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DomeGeom.hh
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* Desc: Dome geometry 00022 * Author: Nate Keonig 00023 * Date: 24 Nov 2004 00024 * CVS: $Id: DomeGeom.hh,v 1.4 2005/05/06 17:18:55 natepak Exp $ 00025 */ 00026 00027 #ifndef DOMEGEOM_HH 00028 #define DOMEGEOM_HH 00029 00030 #include <time.h> 00031 00032 #include "Geom.hh" 00033 00038 class DomeGeom : public Geom 00039 { 00044 public: DomeGeom(Body *body, dSpaceID spaceId, int resolution); 00045 00047 public: virtual ~DomeGeom(); 00048 00049 public: void SetDayTime( double seconds ); 00050 public: void SetElapsedTime( double seconds ); 00051 00053 public: virtual void Render(RenderOptions *opt); 00054 00056 private: void CreateMesh( double radius ); 00057 00059 private: int resolution; 00060 00062 private: double startTime; 00063 00065 private: double elapsedTime; 00066 private: double prevElapsedTime; 00067 00069 private: GzVector origin; 00070 00072 private: GLfloat *vertices; 00073 private: int vertexCount; 00074 00075 }; 00076 00077 #endif 00078
