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