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: osghandle.h,v $ 00023 * Revision 1.11 2010/03/22 14:33:19 martius 00024 * osghandle changeColor() with single rgba values 00025 * camerasensors windowfunction bug 00026 * 00027 * Revision 1.10 2010/03/17 17:26:36 martius 00028 * robotcameramanager uses keyboard and respects resize 00029 * (robot) camera is has a conf object 00030 * image processing implemented, with a few standard procedures 00031 * 00032 * Revision 1.9 2010/03/16 15:48:02 martius 00033 * osgHandle has now substructures osgConfig and osgScene 00034 * that minimized amount of redundant data (this causes a lot of changes) 00035 * Scenegraph is slightly changed. There is a world and a world_noshadow now. 00036 * Main idea is to have a world without shadow all the time avaiable for the 00037 * Robot cameras (since they do not see the right shadow for some reason) 00038 * tidied up old files 00039 * 00040 * Revision 1.8 2010/03/07 22:48:23 guettler 00041 * moved shadow to OsgHandle.shadowType (TODO: move it to OsgConfig) 00042 * 00043 * Revision 1.7 2010/03/05 14:32:55 martius 00044 * camera sensor added 00045 * for that the scenegraph structure was changed into root, world, scene 00046 * camera does not work with shadows 00047 * works with newest version of ode (0.11) 00048 * 00049 * Revision 1.6 2009/07/30 11:23:45 guettler 00050 * new noGraphics state for OSGPrimitives 00051 * 00052 * Revision 1.5 2009/07/29 14:19:49 jhoffmann 00053 * Various bugfixing, remove memory leaks (with valgrind->memcheck / alleyoop) 00054 * 00055 * Revision 1.4 2007/07/30 14:13:40 martius 00056 * drawBoundings moved here 00057 * 00058 * Revision 1.3 2006/12/11 18:26:55 martius 00059 * destructor, but without any function 00060 * 00061 * Revision 1.2 2006/07/14 12:23:56 martius 00062 * selforg becomes HEAD 00063 * 00064 * Revision 1.1.2.8 2006/06/29 16:39:56 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 1.1.2.7 2006/06/15 09:17:09 martius 00070 * restores changeAlpha 00071 * 00072 * Revision 1.1.2.6 2006/06/12 13:37:55 robot3 00073 * added missing const OsgHandle->changeAlpha(const float& alpha); 00074 * 00075 * Revision 1.1.2.5 2006/01/12 14:39:06 martius 00076 * transparent stateset 00077 * 00078 * Revision 1.1.2.4 2005/12/29 16:48:06 martius 00079 * changeColor 00080 * 00081 * Revision 1.1.2.3 2005/12/22 14:09:56 martius 00082 * different tesselhints for different level of detail 00083 * 00084 * Revision 1.1.2.2 2005/12/13 18:12:20 martius 00085 * some utils 00086 * 00087 * Revision 1.1.2.1 2005/12/06 16:18:02 martius 00088 * handle class for OpenSceneGraph 00089 * 00090 * 00091 ***************************************************************************/ 00092 #ifndef __OSGHANDLE_H 00093 #define __OSGHANDLE_H 00094 00095 #include "osgforwarddecl.h" 00096 #include "color.h" 00097 00098 namespace osgShadow { 00099 class ShadowedScene; 00100 } 00101 00102 namespace lpzrobots { 00103 00104 class RobotCameraManager; 00105 00106 00107 /** Data structure containing some configuration variables for OSG */ 00108 struct OsgConfig { 00109 OsgConfig() : normalState(0), transparentState(0), noGraphics(false) {} 00110 osg::TessellationHints* tesselhints[3]; 00111 osg::StateSet* normalState; 00112 osg::StateSet* transparentState; 00113 int shadowType; 00114 bool noGraphics; 00115 }; 00116 00117 /** Data structure containing the scene notes (e.g. with and without shadow)*/ 00118 struct OsgScene { 00119 OsgScene() : root(0), world(0),world_noshadow(0),scene(0), 00120 shadowedScene(0), shadowedSceneRoot(0), groundScene(0), 00121 lightSource(0), worldtransform(0), 00122 robotCamManager(0) {} 00123 osg::Group* root; // master note (contains world,hud..) 00124 osg::Group* world; // world note (contains ground,sky and shadowed scene) 00125 osg::Group* world_noshadow; // world note without shadow (contains ground,sky and scene) 00126 osg::Group* scene; // actual scene for robots and stuff 00127 00128 osgShadow::ShadowedScene* shadowedScene; 00129 osg::Group* shadowedSceneRoot; // root node of shadowed scene 00130 osg::Node* groundScene; 00131 00132 osg::LightSource* lightSource; // the light source 00133 osg::Transform* worldtransform; // unit transformation at the moment 00134 00135 RobotCameraManager* robotCamManager; // manages robot cameras and their display 00136 }; 00137 00138 00139 00140 00141 /** Data structure for accessing the OpenSceneGraph */ 00142 class OsgHandle 00143 { 00144 public: 00145 OsgHandle(); 00146 00147 // Georg: removed. Brauchen wir den wirklich? 00148 // /** 00149 // * TODO: Separation of OSGHandle and OSGConfig 00150 // * @param root 00151 // * @param world 00152 // * @param scene 00153 // * @param tesselhints 00154 // * @param normalState 00155 // * @param transparentState 00156 // * @param color 00157 // * @param shadowType 00158 // * @return 00159 // */ 00160 // OsgHandle( osg::Group* root, osg::Group* world, osg::Group* scene, 00161 // osg::TessellationHints* tesselhints[3], 00162 // osg::StateSet* normalState, osg::StateSet* transparentState, 00163 // const Color& color, int shadowType); 00164 00165 ~OsgHandle(); 00166 00167 /// initialization of the structure 00168 void init(); 00169 /// set up robotcameramanager (must be called after init but before usage of the structure) 00170 void setup(int windowW, int windowH); 00171 /// deletes all internal variables 00172 void close(); 00173 00174 /// decides whether to draw bounding boxes 00175 bool drawBoundings; 00176 00177 Color color; 00178 00179 OsgConfig* cfg; 00180 OsgScene* scene; 00181 osg::Group* parent; // the place there individual osgprimitives are added 00182 00183 // returns a new osghandle with only the color changed 00184 OsgHandle changeColor(const Color& color) const; 00185 // returns a new osghandle with only the color changed 00186 OsgHandle changeColor(double r, double g, double b, double a=1.0) const; 00187 // returns a new osghandle with only the alpha channel changed 00188 OsgHandle changeAlpha(double alpha) const; 00189 00190 }; 00191 00192 00193 00194 } 00195 00196 #endif 00197