heightfieldprimitive.h

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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  *                                                                         *
00023  *  DESCRIPTION                                                            *
00024  *                                                                         *
00025  *   $Log: heightfieldprimitive.h,v $
00026  *   Revision 1.5  2010/03/16 15:47:46  martius
00027  *   osgHandle has now substructures osgConfig and osgScene
00028  *    that minimized amount of redundant data (this causes a lot of changes)
00029  *   Scenegraph is slightly changed. There is a world and a world_noshadow now.
00030  *    Main idea is to have a world without shadow all the time avaiable for the
00031  *    Robot cameras (since they do not see the right shadow for some reason)
00032  *   tidied up old files
00033  *
00034  *   Revision 1.4  2010/03/09 11:53:41  martius
00035  *   renamed globally ode to ode-dbl
00036  *
00037  *   Revision 1.3  2007/07/17 07:18:19  martius
00038  *   setMass added (dummy)
00039  *
00040  *   Revision 1.2  2006/07/14 12:23:34  martius
00041  *   selforg becomes HEAD
00042  *
00043  *   Revision 1.1.2.1  2006/05/28 22:14:56  martius
00044  *   heightfield included
00045  *
00046  *   Revision 1.1.2.1  2005/12/06 17:38:21  martius
00047  *   *** empty log message ***
00048  *
00049  *                                                                 *
00050  ***************************************************************************/
00051 #ifndef __HEIGHTFIELDPRIMITIVES_H
00052 #define __HEIGHTFIELDPRIMITIVES_H
00053 
00054 #include "primitive.h"
00055 #include "osgheightfield.h"
00056 #include <ode-dbl/ode.h>
00057 
00058 namespace lpzrobots {
00059 
00060 
00061   /** Height field primitive */
00062   class HeightField : public Primitive {
00063   public:
00064     HeightField(const std::string& filename, float x_size, float y_size, float height);
00065     HeightField(osg::HeightField* heightfield, float x_size, float y_size);
00066     
00067     virtual ~HeightField();
00068     virtual void init(const OdeHandle& odeHandle, double mass,
00069                       const OsgHandle& osgHandle,
00070                       char mode = Body | Geom | Draw) ;
00071     
00072     
00073     virtual void setPose(const osg::Matrix& pose);
00074     
00075     virtual void update();
00076     virtual OSGPrimitive* getOSGPrimitive() { return osgheightfield; }
00077 
00078     virtual void setMass(double mass) {}
00079   
00080   protected:
00081     OSGHeightField* osgheightfield;
00082     dTriMeshDataID data;
00083     
00084   };
00085 
00086 
00087 }
00088 
00089 #endif
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