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 * frankguettler@gmx.de * 00007 * * 00008 * This program is free software; you can redistribute it and/or modify * 00009 * it under the terms of the GNU General Public License as published by * 00010 * the Free Software Foundation; either version 2 of the License, or * 00011 * (at your option) any later version. * 00012 * * 00013 * This program is distributed in the hope that it will be useful, * 00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00016 * GNU General Public License for more details. * 00017 * * 00018 * You should have received a copy of the GNU General Public License * 00019 * along with this program; if not, write to the * 00020 * Free Software Foundation, Inc., * 00021 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * 00022 * * 00023 * $Log: playground.h,v $ 00024 * Revision 1.21 2010/01/07 14:06:17 der 00025 * *** empty log message *** 00026 * 00027 * Revision 1.20 2010/01/07 14:05:23 der 00028 * adapted to new wall texture 00029 * 00030 * Revision 1.19 2009/03/13 09:19:53 martius 00031 * changed texture handling in osgprimitive 00032 * new OsgBoxTex that supports custom texture repeats and so on 00033 * Box uses osgBoxTex now. We also need osgSphereTex and so on. 00034 * setTexture has to be called before init() of the primitive 00035 * 00036 * Revision 1.18 2008/02/07 14:25:29 der 00037 * added setWallTexture for PlayGround 00038 * 00039 * Revision 1.17 2007/08/28 09:25:13 martius 00040 * include primitive.h 00041 * 00042 * Revision 1.16 2007/08/24 11:53:10 martius 00043 * Change geometry 00044 * 00045 * Revision 1.15 2007/07/03 13:06:41 martius 00046 * groundplane thick 00047 * 00048 * Revision 1.14 2007/03/16 11:01:37 martius 00049 * abstractobstacle gets mor functionallity 00050 * setSubstance 00051 * 00052 * Revision 1.13 2006/09/21 22:09:12 martius 00053 * *** empty log message *** 00054 * 00055 * Revision 1.12 2006/08/11 15:41:04 martius 00056 * playgrounds handle non-quadratic ground planes 00057 * 00058 * Revision 1.11 2006/07/14 12:23:33 martius 00059 * selforg becomes HEAD 00060 * 00061 * Revision 1.10.4.16 2006/07/14 11:11:53 martius 00062 * revert to 1.10.4.12 00063 * 00064 * Revision 1.10.4.12 2006/06/29 16:39:55 robot3 00065 * -you can now see bounding shapes if you type ./start -drawboundings 00066 * -includes cleared up 00067 * -abstractobstacle and abstractground have now .cpp-files 00068 * 00069 * Revision 1.10.4.11 2006/05/23 13:37:34 robot3 00070 * -fixed some creating bugs 00071 * -setColor,setTexture and createGround must be 00072 * called before setPosition now 00073 * 00074 * Revision 1.10.4.10 2006/05/19 08:42:54 robot3 00075 * -some code moved to abstractground.h 00076 * -it's now possible creating a playground without a groundplane 00077 * 00078 * Revision 1.10.4.9 2006/05/18 14:32:12 robot3 00079 * walls are now textured with a wood texture 00080 * 00081 * Revision 1.10.4.8 2006/05/18 12:54:24 robot3 00082 * -fixed not being able to change the color after positioning 00083 * the obstacle 00084 * -cleared the files up 00085 * 00086 * Revision 1.10.4.7 2006/05/18 09:43:24 robot3 00087 * using existing texture image in cvs for the groundplane now 00088 * 00089 * Revision 1.10.4.6 2006/05/18 07:42:36 robot3 00090 * Grounds have now a groundPlane for shadowing issues 00091 * osgprimitive.cpp contains a bug that repeating textures (wrapping) 00092 * don't work, needs to be fixed 00093 * 00094 * Revision 1.10.4.5 2006/05/11 08:59:15 robot3 00095 * -fixed a positioning bug (e.g. for passivesphere) 00096 * -some methods moved to abstractobstacle.h for avoiding inconsistencies 00097 * 00098 * Revision 1.10.4.4 2006/03/29 15:04:39 martius 00099 * have pose now 00100 * 00101 * Revision 1.10.4.3 2006/01/10 20:27:15 martius 00102 * protected members 00103 * 00104 * Revision 1.10.4.2 2006/01/10 17:17:33 martius 00105 * new mode for primitives 00106 * 00107 * Revision 1.10.4.1 2005/12/06 10:13:23 martius 00108 * openscenegraph integration started 00109 * 00110 * Revision 1.10 2005/09/22 12:24:36 martius 00111 * removed global variables 00112 * OdeHandle and GlobalData are used instead 00113 * sensor prepared 00114 * 00115 * Revision 1.9 2005/09/13 13:19:57 martius 00116 * no texture 00117 * 00118 * Revision 1.8 2005/08/02 14:09:06 fhesse 00119 * factor between length in x and y direction 00120 * added to constructor 00121 * 00122 * Revision 1.7 2005/07/29 14:27:59 martius 00123 * color set to some red 00124 * 00125 * Revision 1.6 2005/07/18 14:52:33 martius 00126 * world and space are not pointers anymore. 00127 * 00128 * Revision 1.5 2005/07/07 10:24:23 martius 00129 * avoid internal collisions 00130 * 00131 * Revision 1.4 2005/06/15 14:22:11 martius 00132 * GPL included 00133 * * 00134 ***************************************************************************/ 00135 #ifndef __PLAYGROUND_H 00136 #define __PLAYGROUND_H 00137 00138 #include "mathutils.h" 00139 #include "abstractground.h" 00140 #include "primitive.h" 00141 00142 namespace lpzrobots { 00143 00144 class Playground : public AbstractGround { 00145 00146 protected: 00147 00148 double length, width, height; 00149 double factorlength2; 00150 00151 public: 00152 00153 Playground(const OdeHandle& odeHandle, const OsgHandle& osgHandle , 00154 const osg::Vec3& dimension = osg::Vec3(7.0, 0.2, 0.5) , 00155 double factorxy = 1, bool createGround=true) 00156 : AbstractGround(odeHandle, osgHandle, createGround, dimension.x(), dimension.x()*factorxy, dimension.y()) { 00157 00158 length=dimension.x(); 00159 width=dimension.y(); 00160 height=dimension.z(); 00161 factorlength2=factorxy; 00162 }; 00163 00164 virtual void changeGeometry(double length, double width, double height, double factorxy){ 00165 AbstractGround::changeGeometry(length, width, height, factorxy); 00166 this->length = length; 00167 this->width = width; 00168 this->height = height; 00169 this->factorlength2 = factorxy; 00170 if (obstacle_exists) { 00171 destroy(); 00172 create(); 00173 } 00174 } 00175 00176 virtual void setWallSubstance(const Substance& substance) { 00177 if (obstacle_exists) { 00178 FOREACH(std::vector<Primitive*>,obst,wall) { 00179 (*wall)->substance=substance; 00180 } 00181 } else 00182 std::cerr << "PlayGround::setWallSubstance() - PlayGround gound not created!\n"; 00183 00184 } 00185 00186 00187 protected: 00188 virtual void create(){ 00189 createGround(); 00190 00191 Box* box; 00192 osg::Vec3 offset(- (length/2 + width/2), 00193 0, 00194 height/2+0.01f/*reduces graphic errors and ode collisions*/); 00195 box = new Box( width , (length * factorlength2) + 2 * width , height); 00196 box->setTexture(wallTextureFileName, -1.5, -3); 00197 box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw); 00198 box->setPose(osg::Matrix::translate(offset) * pose); 00199 obst.push_back(box); 00200 00201 offset.x() = length/2 + width/2; 00202 box = new Box( width , (length * factorlength2) + 2 * width , height); 00203 box->setTexture(wallTextureFileName, -1.5, -3); 00204 box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw); 00205 box->setPose(osg::Matrix::translate(offset) * pose); 00206 obst.push_back(box); 00207 00208 offset.x() = 0; 00209 offset.y() = -( (length*factorlength2)/2 +width/2); 00210 box = new Box( length, width, height); 00211 box->setTexture(wallTextureFileName, -1.5, -3); 00212 box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw); 00213 box->setPose(osg::Matrix::translate(offset) * pose); 00214 obst.push_back(box); 00215 00216 offset.y() = (length*factorlength2)/2 +width/2; 00217 box = new Box( length, width, height); 00218 box->setTexture(wallTextureFileName, -1.5, -3); 00219 box->init(odeHandle, 0, osgHandle, Primitive::Geom | Primitive::Draw); 00220 box->setPose(osg::Matrix::translate(offset) * pose); 00221 obst.push_back(box); 00222 00223 obstacle_exists=true; 00224 }; 00225 00226 }; 00227 00228 } 00229 00230 #endif