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Geom.hh Go to the documentation of this file. /* * Gazebo - Outdoor Multi-Robot Simulator * Copyright (C) 2003 * Nate Koenig & Andrew Howard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Desc: Base class for all drawables * Author: Nate Keonig * Date: 04 Aug 2003 * CVS: $Id: Geom.hh,v 1.31 2005/01/26 21:08:08 natepak Exp $ */ #ifndef GEOM_HH #define GEOM_HH #include "GL/gl.h" #include "Global.hh" #include "Color.hh" #include "RenderOptions.hh" #include "BaseGeom.hh" // Forward declarations class GzImage; // Forward declarations for lib3ds typedef struct _Lib3dsNode Lib3dsNode; typedef struct _Lib3dsFile Lib3dsFile; typedef struct _Lib3dsMesh Lib3dsMesh; class Geom : public BaseGeom { public: Geom(dSpaceID spaceId); public: virtual ~Geom(); // Set material properties public: void SetColor( const GzColor &color ); public: void SetAmbientColor( const GzColor &color ); public: void SetDiffuseColor( const GzColor &color ); public: void SetSpecularColor( const GzColor &color ); public: void SetEmissionColor( const GzColor &color ); public: void SetShadeModel( const char *mode ); public: void SetPolygonMode( const char *mode ); public: void SetTransparency( bool enable ); public: void SetShininess( float num ); public: void SetLaser( float num ); public: void SetRetro( float num ); public: void SetFiducial( int id ); public: void SetPickId( GLuint id ); public: int SetTexture2D( int width, int height, const uint8_t *data ); public: int SetTexture2DFile( const char *filename ); public: void SetTexture2DSize( GzVector size ); public: int SetSkinFile( const char *filename ); public: void SetSkinNull(bool enable) {this->skinNull = enable;} public: void SetSkinPose( GzPose pose ); public: void SetSkinScale( GzVector scale ); public: bool HasSkin() {return this->skinFile != NULL;} public: bool HasSkinNull() {return this->skinNull;} // Get material properties public: GzColor GetAmbientColor() const; public: GzColor GetDiffuseColor() const; public: GzColor GetSpecularColor() const; public: float GetTransparency() const; public: float GetShininess() const; public: float GetLaser() const; public: float GetRetro() const; public: int GetFiducial() const; public: GLuint GetPickId() const; protected: void SetList(int camera, GLuint listId, RenderOptions opt); protected: void GetList(int camera, GLuint *listId, RenderOptions *opt); // TODO: pass-by-value // Render the geom (GL) public: virtual void PreRender(RenderOptions *opt); public: virtual void Render(RenderOptions *opt); public: virtual void PostRender(RenderOptions *opt); public: void RenderSkin(RenderOptions *opt); // Render a node (recursive) private: void RenderSkinNode(Lib3dsNode *node); // Render a mesh private: void RenderSkinMesh( Lib3dsMesh *mesh ); // Rendering order public: int renderOrder; // Material attributes protected: bool transparency; protected: float laser; protected: float retro; protected: int fiducial; protected: GLfloat colorDiffuse[4]; protected: GLfloat colorAmbient[4]; protected: GLfloat colorSpecular[4]; protected: GLfloat colorEmission[4]; protected: GLfloat shininess; protected: GzImage *textureImage; protected: GzVector textureSize; // ?? protected: int pick; private: struct { GLuint listId; RenderOptions opt; } listList[256]; private: Lib3dsFile *skinFile; private: bool skinNull; private: GzPose skinPose; private: GzVector skinScale; private: GLuint meshListId; protected: bool dirty; }; #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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