odehandle.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  *   $Log: odehandle.h,v $
00023  *   Revision 1.15  2010/03/09 11:53:41  martius
00024  *   renamed globally ode to ode-dbl
00025  *
00026  *   Revision 1.14  2010/03/05 14:32:55  martius
00027  *   camera sensor added
00028  *   for that the scenegraph structure was changed into root, world, scene
00029  *   camera does not work with shadows
00030  *   works with newest version of ode (0.11)
00031  *
00032  *   Revision 1.13  2009/12/01 17:32:10  martius
00033  *   adapted Makefiles to ignore backward compat. errors
00034  *
00035  *   Revision 1.12  2009/08/03 14:09:48  jhoffmann
00036  *   Remove some compiling warnings, memory leaks; Add some code cleanups
00037  *
00038  *   Revision 1.11  2008/08/27 06:46:12  martius
00039  *   hashcode optimised and comment added
00040  *
00041  *   Revision 1.10  2008/08/26 18:58:32  martius
00042  *   comments
00043  *
00044  *   Revision 1.9  2008/04/17 15:59:02  martius
00045  *   OSG2 port finished
00046  *
00047  *   Revision 1.8.2.1  2008/04/15 16:21:53  martius
00048  *   Profiling
00049  *   Multithreading also for OSG and ODE but disables because of instabilities
00050  *
00051  *   Revision 1.8  2007/08/29 08:43:50  martius
00052  *   create simple space and delete space
00053  *
00054  *   Revision 1.7  2007/07/31 08:37:03  martius
00055  *   added a list of spaces for collision control within them
00056  *
00057  *   Revision 1.6  2007/07/03 13:04:22  martius
00058  *   pointer to global simulation time
00059  *   hash-maps are protected
00060  *
00061  *   Revision 1.5  2007/06/21 16:20:26  martius
00062  *   inlined isIgnoredSpace and Pair
00063  *
00064  *   Revision 1.4  2007/03/16 10:55:44  martius
00065  *   substance added
00066  *   ignoredSpaces and ignoredPairs
00067  *
00068  *   Revision 1.3  2006/07/14 12:23:56  martius
00069  *   selforg becomes HEAD
00070  *
00071  *   Revision 1.2.4.1  2005/12/06 10:13:26  martius
00072  *   openscenegraph integration started
00073  *
00074  *   Revision 1.2  2005/11/09 13:31:51  martius
00075  *   GPL'ised
00076  *
00077  ***************************************************************************/
00078 #ifndef __ODEHANDLE_H
00079 #define __ODEHANDLE_H
00080 
00081 #if __GNUC__ > 3
00082 #include <backward/hash_set>
00083 #else
00084 #include <ext/hash_set>
00085 #endif
00086 #include <vector>
00087 #include <ode-dbl/common.h>
00088 #include "substance.h"
00089 
00090 namespace lpzrobots {
00091 
00092 class Primitive;
00093 
00094 struct geomPairHash{
00095   size_t operator() (const std::pair<long, long>& p) const {
00096     return  2*p.first + p.second;
00097   }
00098 };
00099 
00100 /** Data structure for accessing the ODE */
00101 class OdeHandle
00102 {
00103 public:
00104   OdeHandle( );
00105   OdeHandle(  dWorldID _world, dSpaceID _space, dJointGroupID _jointGroup);
00106 
00107   dWorldID world;
00108   dSpaceID space;
00109   dJointGroupID jointGroup;
00110 
00111   Substance substance;
00112 
00113   /// creates world at global space and so on and sets global time pointer.
00114   void init(double* time); 
00115 
00116   /// deletes the world and global data
00117   void close(); 
00118 
00119   /** use this function to create a new space with optional ignored collisions, 
00120       use deleteSpace to destroy it
00121       
00122       All primitives initialised with this handle are within this space.
00123    */
00124   void createNewSimpleSpace(dSpaceID parentspace, bool ignore_inside_collisions);
00125 
00126   /// destroys the space and unregisters them in the global lists
00127   void deleteSpace();
00128 
00129   /** adds a space to the list of ignored spaces for collision detection 
00130     (i.e within this space there is no collision)
00131   */
00132   void addIgnoredSpace(dSpaceID g);
00133   /// removes a space from the list of ignored spaces for collision detection
00134   void removeIgnoredSpace(dSpaceID g);
00135   /// checks whether the space is an ignored space for collision detection
00136   inline bool isIgnoredSpace(dSpaceID g) const
00137   {
00138     if (ignoredSpaces)
00139       return ignoredSpaces->find((long)g) != ignoredSpaces->end();
00140     else return false;
00141   }
00142 
00143   /** adds a space to the list of spaces for collision detection (ignored spaces do not need to be insered)*/
00144   void addSpace(dSpaceID g);
00145   /// removes a space from the list of ignored spaces for collision detection
00146   void removeSpace(dSpaceID g);
00147 
00148   /** deletes all associated memory objects, handle with care - use only when program exits */
00149   void destroySpaces();
00150 
00151   /// returns list of all spaces (as vector for parallelisation
00152   const std::vector<dSpaceID>& getSpaces();
00153 
00154 
00155   inline double getTime(){ return *time; }
00156   
00157   /// adds a pair of geoms to the list of ignored geom pairs for collision detection
00158   void addIgnoredPair(dGeomID g1, dGeomID g2);
00159   /// like addIgnoredPair(dGeomID g1, dGeomID g2) just with primitives (provided for convinience)
00160   void addIgnoredPair(Primitive* p1, Primitive* p2);
00161   /// removes pair of geoms from the list of ignored geom pairs for collision detection
00162   void removeIgnoredPair(dGeomID g1, dGeomID g2);
00163   /// like removeIgnoredPair(dGeomID g1, dGeomID g2) just with primitives (provided for convinience)
00164   void removeIgnoredPair(Primitive* p1, Primitive* p2);
00165   /// checks whether a pair of geoms is an ignored pair for collision detection
00166   inline bool isIgnoredPair(dGeomID g1, dGeomID g2) const { 
00167     return (ignoredPairs->find(std::pair<long, long>((long)g1,(long)g2)) != ignoredPairs->end())
00168       || (ignoredPairs->find(std::pair<long, long>((long)g2,(long)g1)) != ignoredPairs->end());
00169   }
00170 
00171 protected:
00172   double* time;
00173   //TODO: Destroy the internal containers (vectors, list, ...) within the destructor. Now destroySpaces is used. Maybe we can use QMP_CRITICAL for a ref_cnt-variabel, or avoid the pointers.
00174 
00175   /// list of spaces, except ignored spaces
00176   std::vector<dSpaceID>* spaces;
00177 
00178   /// set of ignored spaces
00179   __gnu_cxx::hash_set<long>* ignoredSpaces;
00180 
00181   /// set of ignored geom pairs for collision
00182   __gnu_cxx::hash_set<std::pair<long,long>, geomPairHash >* ignoredPairs;
00183 
00184 };
00185 
00186 }
00187 #endif
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