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RoadGeom.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: Road geometry * Author: Andrew Howard * Date: 22 Oct 2004 * CVS: $Id: RoadGeom.hh,v 1.7 2004/11/01 01:50:24 inspectorg Exp $ */ #ifndef ROADGEOM_HH #define ROADGEOM_HH #include "Geom.hh" class RoadGeom : public Geom { public: RoadGeom(Body *body, dSpaceID spaceId); public: virtual ~RoadGeom(); public: void SetTrackSpacing(double spacing) {this->trackScale = spacing;} public: void SetProfileSpacing(double spacing) {this->profileScale = spacing;} public: int AddTrackPoint(GzVector pos); public: void AddProfilePoint(int index, double pz); public: void AddSign(GzVector pos, const char *text); private: void InitMesh(); public: void UpdateMesh(GzVector pos); private: void UpdateNormals(); private: GzVector SplineCR(double t, GzVector p0, GzVector p1, GzVector p2, GzVector p3); private: GzVector SplineCRtan(double t, GzVector p0, GzVector p1, GzVector p2, GzVector p3); public: virtual void Render(RenderOptions *opt); private: void RenderSigns(RenderOptions *opt, RenderOptions listOpt); private: dTriMeshDataID tridata; private: dGeomID trimesh; private: int stepsX, stepsY; private: double scale; private: struct TrackPoint { // Position GzVector pos; int profilePointCount, profilePointMaxCount; GzVector *profilePoints; }; private: double trackScale, profileScale; private: int trackPointCount, trackPointMaxCount; private: TrackPoint *trackPoints; private: struct SignData { GzVector pos; char *text; }; private: int signCount, signMaxCount; private: SignData *signs; private: int vertexCount, vertexMaxCount; private: dVector3 *vertices; private: GzVector *normals; private: int indexCount, indexMaxCount; private: int *indices; private: double patchSize; }; #endif

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

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