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Geom.hh

#ifndef GEOM_HH
#define GEOM_HH

#include <ode/ode.h>

#include "Entity.hh"
#include "Pose3d.hh"
#include "Vector3.hh"

namespace Ogre
{
  class Entity;
  class MaterialPtr;
  class MovableObject;
  class SceneNode;
}

namespace gazebo
{

  class Body;
  class ContactParams;
  class XMLConfigNode;


  class Geom : public Entity
  {
  
    //public: Geom(Body *body, const std::string &name);
    public: Geom(Body *body);
  
    public: virtual ~Geom();

    public: virtual void Load(XMLConfigNode *node);

    protected: virtual void LoadChild(XMLConfigNode *node) = 0;
  
    public: void SetGeom(dGeomID geomId, bool placeable);
  
    public: void Update();

    public: virtual void UpdateChild() {};
  
    public: dGeomID GetGeomId() const;
  
    public: dGeomID GetTransId() const;
  
    public: int GetGeomClass() const;
  
    public: bool IsPlaceable() const;
  
    public: void SetPose(const Pose3d &pose, bool updateCoM=true);
  
    public: Pose3d GetPose() const;
  
    public: void SetPosition(const Vector3 &pos);
  
    public: void SetRotation(const Quatern &rot);
  
    public: void AttachMesh(const std::string &meshName);
  
    public: void AttachObject( Ogre::MovableObject *obj );
  
    public: void ScaleMesh(const Vector3 &scale);
  
    public: void SetCastShadows(bool enable);
  
    public: void SetMeshMaterial(const std::string &materialName);
  
    public: void SetCategoryBits(unsigned int bits);
  
    public: void SetCollideBits(unsigned int bits);
  
    public: const dMass *GetBodyMassMatrix();
  
    public: void SetLaserFiducialId(int id);
  
    public: int GetLaserFiducialId() const;
  
    public: void SetLaserRetro(float retro);
  
    public: float GetLaserRetro() const;
  
    public: ContactParams *contact; 
  
    protected: Body *body;
  
    private: bool placeable;

    protected: Ogre::MovableObject *ogreObj;

    protected: Ogre::MovableObject *odeObj;
  
    protected: dGeomID transId;

    protected: dGeomID geomId;
  
    private: static int geomIdCounter;
  
    protected: dMass mass;

    protected: dMass bodyMass;
 
    protected: Quatern extraRotation;
  
    private: int laserFiducialId;
    private: float laserRetro;

    protected: std::string meshName;

    protected: double dblMass;

    private: Ogre::SceneNode *boundingBoxNode;
  };


}
#endif

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Last updated Aug 04 2007