AbstractObstacle Class Reference

Abstract class (interface) for obstacles. More...

#include <abstractobstacle.h>

Inherited by AbstractGround, Boxpile, DummyObstacle, MeshGround, MeshObstacle, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, RandomObstacles, Seesaw, and TerrainGround.

Collaboration diagram for AbstractObstacle:

[legend]

List of all members.

Public Member Functions
	AbstractObstacle (const OdeHandle &odeHandle, const OsgHandle &osgHandle)
	Constructor.
virtual	~AbstractObstacle ()
virtual void	update ()
	updates the position if the scenegraph nodes the default implementation calls update on all primitive on "obst"
virtual void	setPos (const osg::Vec3 &pos)
	sets position of the obstacle and creates/recreates obstacle if necessary
virtual void	setPosition (const osg::Vec3 &pos)
	sets position of the obstacle and creates/recreates obstacle if necessary
virtual osg::Vec3	getPos ()
	gives actual position of the obstacle
virtual osg::Matrix	getPose ()
	gives actual pose of the obstacle
virtual void	setPose (const osg::Matrix &pose)=0
	sets position of the obstacle and creates/recreates obstacle if necessary
virtual void	setColor (const Color &color)
	sets the obstacle color
virtual void	setColor (const std::string &color)
virtual void	setTexture (const std::string &texturefilename)
	assigns a texture to the all primitives of this obstactle with repeat -1,-1
virtual void	setTexture (const TextureDescr &texture)
	assigns a texture to the all primitives of this obstactle
virtual void	setTexture (int surface, const TextureDescr &texture)
	assigns a texture to the x-th surface of each primitive,
virtual void	setTexture (int primitive, int surface, const TextureDescr &texture)
	assigns a texture to the x-th surface of the k-th primitive, (The texture setting of the last primitve is repeated for the remaining ones)
virtual TextureDescr	getTexture (int primitive, int surface) const
	returns the texture of the given surface on the given primitive
virtual std::vector< TextureDescr >	getTextures (int primitive) const
	returns the textures of the given primitive
virtual Primitive *	getMainPrimitive () const =0
	return the "main" primitive of the obtactle. The meaning of "main" is arbitrary
virtual void	setSubstance (const Substance &substance)
	sets the substance of the obtactle.
virtual const Substance &	getSubstance ()
	returns the substance of this obstacle
virtual Position	getPosition () const
	returns position of the object
virtual Position	getSpeed () const
	returns linear speed vector of the object
virtual Position	getAngularSpeed () const
	returns angular velocity vector of the object
virtual matrix::Matrix	getOrientation () const
	returns the orientation of the object
Protected Member Functions
virtual void	destroy ()
	is called to destroy the object. The default implementation is to delete all primitives in "obst".
virtual void	create ()=0
	overload this function to create the obstactle. All primitives should go into the list "obst"
Protected Attributes
std::vector< Primitive * >	obst
	primitives which belong to this obstacle
std::vector< std::vector < TextureDescr > >	textures
	for each primitive the texture settings per surface
osg::Matrix	pose
bool	obstacle_exists
OdeHandle	odeHandle
OsgHandle	osgHandle

---

Detailed Description

Abstract class (interface) for obstacles.

---

Constructor & Destructor Documentation

AbstractObstacle	(	const OdeHandle &	odeHandle,
		const OsgHandle &	osgHandle
	)

Constructor.

Parameters:

	odeHandle	containing ODE stuff like world, space and jointgroup
	osgHandle	containing OSG stuff like scene, color... be used for creation of obstacles

~AbstractObstacle

(

)

[virtual]

---

Member Function Documentation

virtual void create

(

)

[protected, pure virtual]

overload this function to create the obstactle. All primitives should go into the list "obst"

Implemented in Boxpile, ClosedPlayground, ComplexPlayground, DummyGround, DummyObstacle, MeshGround, MeshObstacle, OctaPlayground, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, Playground, RandomObstacles, Seesaw, and TerrainGround.

void destroy

(

)

[protected, virtual]

is called to destroy the object. The default implementation is to delete all primitives in "obst".

Reimplemented in ClosedPlayground, MeshGround, MeshObstacle, PassiveMesh, and TerrainGround.

Position getAngularSpeed

(

)

const [virtual]

returns angular velocity vector of the object

Returns:

vector (wx,wy,wz)

virtual Primitive* getMainPrimitive

(

)

const [pure virtual]

return the "main" primitive of the obtactle. The meaning of "main" is arbitrary

Implemented in AbstractGround, Boxpile, DummyObstacle, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, RandomObstacles, Seesaw, and TerrainGround.

matrix::Matrix getOrientation

(

)

const [virtual]

returns the orientation of the object

Returns:

3x3 rotation matrix

osg::Vec3 getPos

(

)

[virtual]

gives actual position of the obstacle

osg::Matrix getPose

(

)

[virtual]

gives actual pose of the obstacle

Position getPosition

(

)

const [virtual]

returns position of the object

Returns:

vector of position (x,y,z)

Position getSpeed

(

)

const [virtual]

returns linear speed vector of the object

Returns:

vector (vx,vy,vz)

const Substance & getSubstance

(

)

[virtual]

returns the substance of this obstacle

TextureDescr getTexture	(	int	primitive,
		int	surface
	)			const [virtual]

returns the texture of the given surface on the given primitive

std::vector< TextureDescr > getTextures

(

int

primitive

)

const [virtual]

returns the textures of the given primitive

virtual void setColor

(

const std::string &

color

)

[virtual]

void setColor

(

const Color &

color

)

[virtual]

sets the obstacle color

Parameters:

color

values in RGBA

void setPos

(

const osg::Vec3 &

pos

)

[virtual]

sets position of the obstacle and creates/recreates obstacle if necessary

virtual void setPose

(

const osg::Matrix &

pose

)

[pure virtual]

sets position of the obstacle and creates/recreates obstacle if necessary

Implemented in AbstractGround, Boxpile, DummyObstacle, MeshGround, MeshObstacle, PassiveBox, PassiveCapsule, PassiveMesh, PassiveSphere, RandomObstacles, Seesaw, and TerrainGround.

void setPosition

(

const osg::Vec3 &

pos

)

[virtual]

sets position of the obstacle and creates/recreates obstacle if necessary

Examples:

template_sphererobot/main.cpp.

void setSubstance

(

const Substance &

substance

)

[virtual]

sets the substance of the obtactle.

It is applied to all objects in obj

Parameters:

substance

description of the substance

void setTexture	(	int	primitive,
		int	surface,
		const TextureDescr &	texture
	)			[virtual]

assigns a texture to the x-th surface of the k-th primitive, (The texture setting of the last primitve is repeated for the remaining ones)

See also:

Primitive::setTexture()

void setTexture	(	int	surface,
		const TextureDescr &	texture
	)			[virtual]

assigns a texture to the x-th surface of each primitive,

See also:

Primitive::setTexture()

void setTexture

(

const TextureDescr &

texture

)

[virtual]

assigns a texture to the all primitives of this obstactle

See also:

Primitive::setTexture()

void setTexture

(

const std::string &

texturefilename

)

[virtual]

assigns a texture to the all primitives of this obstactle with repeat -1,-1

See also:

Primitive::setTexture()

Reimplemented in PassiveCapsule, and PassiveSphere.

void update

(

)

[virtual]

updates the position if the scenegraph nodes the default implementation calls update on all primitive on "obst"

Reimplemented in MeshGround, MeshObstacle, PassiveCapsule, PassiveMesh, and TerrainGround.

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Member Data Documentation

std::vector<Primitive*> obst [protected]

primitives which belong to this obstacle

bool obstacle_exists [protected]

OdeHandle odeHandle [protected]

OsgHandle osgHandle [protected]

osg::Matrix pose [protected]

std::vector<std::vector<TextureDescr> > textures [protected]

for each primitive the texture settings per surface

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

• abstractobstacle.h
• abstractobstacle.cpp