osg Directory Reference

The osg directory provides the osg primitves of which robots and obstacles are assembled and further helpful things dealing with the visualization in OSG.

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Directory dependency graph for osg:

Directories
directory	old

Files
file	base.cpp
file	base.h [code]
file	boundingshape.cpp
file	boundingshape.h [code]
file	cameramanipulator.cpp
file	cameramanipulator.h [code]
file	cameramanipulatorFollow.cpp
file	cameramanipulatorFollow.h [code]
file	cameramanipulatorRace.cpp
file	cameramanipulatorRace.h [code]
file	cameramanipulatorTV.cpp
file	cameramanipulatorTV.h [code]
file	heightfieldprimitive.cpp
file	heightfieldprimitive.h [code]
file	hudstatistics.cpp
file	hudstatistics.h [code]
file	joint.cpp
file	joint.h [code]
file	lpzhelphandler.cpp
file	lpzhelphandler.h [code]
file	lpzviewer.cpp
file	lpzviewer.h [code]
file	osgforwarddecl.h [code]
file	osgheightfield.cpp
file	osgheightfield.h [code]
file	osgprimitive.cpp
file	osgprimitive.h [code]
file	primitive.cpp
file	primitive.h [code]
file	ode_robots/osg/README
	This file is used for the doxygen documentation.
file	robotcameramanager.cpp
file	robotcameramanager.h [code]
file	substance.cpp
file	substance.h [code]

Detailed Description

The osg directory provides the osg primitves of which robots and obstacles are assembled and further helpful things dealing with the visualization in OSG.

OSG stands for OpenSceneGraph and is an open source high peformance 3D graphics toolkit (http://www.openscenegraph.org). A documentation can be found on their webpage under documentation or by klicking the link http://www.openscenegraph.org/osgwiki/pmwiki.php/Documentation/Documentation

For now only the primitives should be explained, which are required to build new objects for the simulations:

• lpzrobots::Plane Graphical plane (represented as a large thin box, because OSG does not draw planes)
• lpzrobots::Box
• lpzrobots::Sphere
• lpzrobots::Capsule (a cylinder with round ends
• lpzrobots::Transform (embedding a primitive in another primitive)

The mentioned primitves are drivatives of lpzrobots::Primitive which is an interface class for primitives represented in the physical and graphical world. It is intended to bring OSG and ODE together and hide most implementation details.

For visualization the primitves use the osgprimitives (since this is done in the primitives you don't have to bother about this one):

• lpzrobots::OSGPlane Graphical plane (represented as a large thin box, because OSG does not draw planes)
• lpzrobots::OSGBox
• lpzrobots::OSGSphere
• lpzrobots::OSGCylinder
• lpzrobots::OSGCapsule (a cylinder with round ends
• lpzrobots::OSGMesh for graphical mesh or arbitrary OSG model

They are derived from lpzrobots::OSGPrimitive which is an interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG.