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passivebox.h
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2  * Copyright (C) 2005-2011 LpzRobots development team *
3  * Georg Martius <georg dot martius at web dot de> *
4  * Frank Guettler <guettler at informatik dot uni-leipzig dot de *
5  * Frank Hesse <frank at nld dot ds dot mpg dot de> *
6  * Ralf Der <ralfder at mis dot mpg dot de> *
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24 #ifndef __PASSIVEBOX_H
25 #define __PASSIVEBOX_H
26 
27 #include <stdio.h>
28 #include <cmath>
29 
30 #include "primitive.h"
31 #include "abstractobstacle.h"
32 
33 namespace lpzrobots {
34 
35 /**
36  * (Passive) box as obstacle
37  */
39  osg::Vec3 dimension;
40  double mass;
41  int texture;
42 
43 
44  Box* box;
45 
46 
47  public:
48 
49  /**
50  * Constructor, if you set mass=0.0, you get a box which cannot be moved
51  */
53  const osg::Vec3& dimension = osg::Vec3(1.0, 1.0, 1.0), double mass = 1.0):
54  AbstractObstacle::AbstractObstacle(odeHandle, osgHandle), dimension(dimension), mass(mass), texture(0)
55  {
56  box = new Box(dimension.x(), dimension.y(), dimension.z());
57  obst.push_back(box);
58  obstacle_exists=false;
59  };
60 
61 
62  virtual void setPose(const osg::Matrix& pose){
63  this->pose = osg::Matrix::translate(0,0,dimension.z()/2) * pose;
64  if (!obstacle_exists) {
65  create();
66  }
67  box->setPose(pose);
68  };
69 
70 
71  virtual Primitive* getMainPrimitive() const { return box; }
72 
73  protected:
74  virtual void create(){
75  box->setTextures(getTextures(0));
76  if (mass==0.0) {
77  box->init(odeHandle, mass, osgHandle, Primitive::Geom | Primitive::Draw);
78  } else {
79  box->init(odeHandle, mass, osgHandle);
80  }
81 // osg::Vec3 pos=pose.getTrans();
82 // box->setPosition(pos);
83  obstacle_exists=true;
84  };
85 
86 };
87 
88 }
89 
90 #endif
91 
Data structure for accessing the ODE.
Definition: odehandle.h:44
OsgHandle osgHandle
Definition: abstractobstacle.h:174
virtual std::vector< TextureDescr > getTextures(int primitive) const
returns the textures of the given primitive
Definition: abstractobstacle.cpp:147
Abstract class (interface) for obstacles.
Definition: abstractobstacle.h:46
Matrixd Matrix
Definition: osgforwarddecl.h:47
bool obstacle_exists
Definition: abstractobstacle.h:171
OdeHandle odeHandle
Definition: abstractobstacle.h:173
Data structure for accessing the OpenSceneGraph.
Definition: osghandle.h:79
Definition: primitive.h:89
virtual Primitive * getMainPrimitive() const
return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
Definition: passivebox.h:71
PassiveBox(const OdeHandle &odeHandle, const OsgHandle &osgHandle, const osg::Vec3 &dimension=osg::Vec3(1.0, 1.0, 1.0), double mass=1.0)
Constructor, if you set mass=0.0, you get a box which cannot be moved.
Definition: passivebox.h:52
Vec3f Vec3
Definition: osgforwarddecl.h:42
Definition: primitive.h:89
Interface class for primitives represented in the physical and graphical world.
Definition: primitive.h:80
virtual void setPose(const osg::Matrix &pose)
sets position of the obstacle and creates/recreates obstacle if necessary
Definition: passivebox.h:62
std::vector< Primitive * > obst
primitives which belong to this obstacle
Definition: abstractobstacle.h:166
Box primitive.
Definition: primitive.h:267
virtual void setTextures(const std::vector< TextureDescr > &textures)
assign a set of texture to the surfaces of the primitive
Definition: primitive.cpp:142
osg::Matrix pose
Definition: abstractobstacle.h:170
virtual void setPose(const Pose &pose)
set the pose of the primitive
Definition: primitive.cpp:156
(Passive) box as obstacle
Definition: passivebox.h:38
virtual void create()
overload this function to create the obstactle. All primitives should go into the list "obst" ...
Definition: passivebox.h:74
virtual void init(const OdeHandle &odeHandle, double mass, const OsgHandle &osgHandle, char mode=Body|Geom|Draw)
registers primitive in ODE and OSG.
Definition: primitive.cpp:417