00001 /*************************************************************************** 00002 * Copyright (C) 2005 by Robot Group Leipzig * 00003 * martius@informatik.uni-leipzig.de * 00004 * fhesse@informatik.uni-leipzig.de * 00005 * der@informatik.uni-leipzig.de * 00006 * * 00007 * This program is free software; you can redistribute it and/or modify * 00008 * it under the terms of the GNU General Public License as published by * 00009 * the Free Software Foundation; either version 2 of the License, or * 00010 * (at your option) any later version. * 00011 * * 00012 * This program is distributed in the hope that it will be useful, * 00013 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00014 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00015 * GNU General Public License for more details. * 00016 * * 00017 * You should have received a copy of the GNU General Public License * 00018 * along with this program; if not, write to the * 00019 * Free Software Foundation, Inc., * 00020 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00021 * * 00022 * $Log: passivesphere.h,v $ 00023 * Revision 1.1.2.7 2006/03/31 09:59:23 fhesse 00024 * in create: z+=radius; added to place sphere on ground 00025 * 00026 * Revision 1.1.2.6 2006/03/30 12:34:51 martius 00027 * documentation updated 00028 * 00029 * Revision 1.1.2.5 2006/03/29 15:04:39 martius 00030 * have pose now 00031 * 00032 * Revision 1.1.2.4 2006/01/18 16:46:39 martius 00033 * mass adjustable 00034 * 00035 * Revision 1.1.2.3 2005/12/15 17:02:16 martius 00036 * *** empty log message *** 00037 * 00038 * Revision 1.1.2.2 2005/12/11 23:35:07 martius 00039 * *** empty log message *** 00040 * 00041 * Revision 1.1.2.1 2005/12/09 16:53:17 martius 00042 * camera is working now 00043 * 00044 * Revision 1.5 2005/10/25 19:26:57 fhesse 00045 * comments adjusted and in doxygen style 00046 * 00047 * Revision 1.4 2005/09/22 12:24:36 martius 00048 * removed global variables 00049 * OdeHandle and GlobalData are used instead 00050 * sensor prepared 00051 * 00052 * Revision 1.3 2005/07/31 22:30:56 martius 00053 * textures 00054 * 00055 * Revision 1.2 2005/07/18 14:52:33 martius 00056 * world and space are not pointers anymore. 00057 * 00058 * Revision 1.1 2005/07/08 10:00:33 fhesse 00059 * initial version 00060 * * 00061 * * 00062 ***************************************************************************/ 00063 #ifndef __PASSIVESPHERE_H 00064 #define __PASSIVESPHERE_H 00065 00066 #include <stdio.h> 00067 #include <math.h> 00068 00069 #include "primitive.h" 00070 #include "abstractobstacle.h" 00071 00072 namespace lpzrobots { 00073 00074 /** 00075 * (Passive) sphere as obstacle 00076 */ 00077 class PassiveSphere : public AbstractObstacle{ 00078 double radius; 00079 double mass; 00080 /** 00081 * initial coordinates 00082 */ 00083 osg::Vec3 pos; 00084 int texture; 00085 00086 Sphere* sphere; 00087 00088 bool obstacle_exists; 00089 00090 public: 00091 00092 /** 00093 * Constructor 00094 */ 00095 PassiveSphere(const OdeHandle& odeHandle, const OsgHandle& osgHandle, double radius = 0.3, double mass = 1.0): 00096 AbstractObstacle::AbstractObstacle(odeHandle, osgHandle), radius(radius), mass(mass) { 00097 sphere=0; 00098 obstacle_exists=false; 00099 }; 00100 00101 ~PassiveSphere(){ 00102 if(sphere) delete sphere; 00103 } 00104 00105 /** 00106 * update position of sphere 00107 */ 00108 virtual void update(){ 00109 if(sphere) sphere->update(); 00110 }; 00111 00112 virtual void setTexture(const std::string& filename){ 00113 if(sphere) sphere->getOSGPrimitive()->setTexture(filename); 00114 } 00115 00116 virtual void setPose(const osg::Matrix& pose){ 00117 this->pose = osg::Matrix::translate(0,0,radius) * pose; 00118 if (obstacle_exists){ 00119 destroy(); 00120 } 00121 create(); 00122 }; 00123 00124 virtual osg::Matrix getPose(){ 00125 return pose; 00126 } 00127 00128 protected: 00129 virtual void create(){ 00130 sphere = new Sphere(radius); 00131 sphere->init(odeHandle, mass, osgHandle); 00132 pos[2]+=radius; 00133 sphere->setPosition(pos); 00134 00135 obstacle_exists=true; 00136 }; 00137 00138 00139 virtual void destroy(){ 00140 if(sphere) delete sphere; 00141 obstacle_exists=false; 00142 }; 00143 00144 }; 00145 00146 } 00147 00148 #endif