boundingshape.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                                        *
 *                                                                         *
 *   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.             *
 ***************************************************************************
 *                                                                         *
 *  DESCRIPTION                                                            *
 *                                                                         *
 *   $Log: boundingshape.h,v $
 *   Revision 1.1.2.2  2006/03/29 15:03:19  martius
 *   format documented
 *
 *   Revision 1.1.2.1  2006/03/29 14:51:45  martius
 *   class for reading bounding shape description files and creates the appropriate geoms
 *
 *   Revision 1.1.2.1  2005/12/06 17:38:21  martius
 *   *** empty log message ***
 *
 *                                                                 *
 ***************************************************************************/
#ifndef __BOUNDINGSHAPE_H
#define __BOUNDINGSHAPE_H

#include "primitive.h"

namespace lpzrobots {

  /**
    class for reading bounding shape description files (.bbox) and to create appropriate geoms
    File Format: Lines wise, every line stands for one primitive. Possible lines are:
sphere radius (x,y,z)
cylinder radius height (x,y,z) (alpha, beta, gamma)
capsule radius height (x,y,z) (alpha, beta, gamma)
box length width height (x,y,z) (alpha, beta, gamma)
   (x,y,z) is the position vector and (alpha, beta, gamma) are the rotation angles about x,y,z axis respectively        
  */
  class BoundingShape{
  public:
    BoundingShape(const std::string& filename) : filename(filename) {}
    virtual ~BoundingShape(){}
    bool readBBoxFile(std::string& filename, const OdeHandle& odeHandle, const OsgHandle& osgHandle, 
                      const osg::Matrix& pose, double scale, char mode){
      // TODO: use search path (maybe try to use some osgDB function)
      FILE* f = fopen(filename.c_str(),"r");
      if(!f) return false;
      char buffer[128];
      float r,x,y,z;
      while(fgets(buffer,128,f)){
        if(strstr(buffer,"sphere")==buffer){
          if(sscanf(buffer+7, "%g (%g,%g,%g)", &r, &x, &y, &z)==4){
            Sphere* s = new Sphere(r * scale);
            s->init(odeHandle,0,osgHandle, mode);
            s->setPose(osg::Matrix::translate(scale*x,scale*y,scale*z) * pose);
            geoms.push_back(s);
          } else{ fprintf(stderr, "Syntax error : %s", buffer); }
        } else if(strstr(buffer,"capsule")==buffer){
          fprintf(stderr, "Not implemented : %s", buffer);
        } else if(strstr(buffer,"cylinder")==buffer){
          fprintf(stderr, "Not implemented : %s", buffer);
        } else if(strstr(buffer,"box")==buffer){
          fprintf(stderr, "Not implemented : %s", buffer);
        }else {
          fprintf(stderr, "Unknown Line: %s", buffer);
        }
      }
      return true;
    }
      
    virtual bool init(const OdeHandle& odeHandle, const OsgHandle& osgHandle, const osg::Matrix& pose,
                      double scale, char mode){
      return readBBoxFile(filename, odeHandle, osgHandle, pose, scale, mode);
    }
    
    virtual void update(){
    }

  private:
    list<Primitive*> geoms;
    std::string filename;
  };

}

#endif

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