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Geom.hh

/*
 *  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: Geom class
 * Author: Nate Koenig
 * Date: 13 Feb 2006
 * SVN: $Id: Geom.hh 4402 2008-03-09 14:39:27Z robotos $
 */

#ifndef GEOM_HH
#define GEOM_HH

#include <ode/ode.h>

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

namespace gazebo
{

  class Body;
  class ContactParams;
  class XMLConfigNode;
  class OgreVisual;


  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);

    public: virtual void Save();

    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 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: void SetTransparency( float trans );

    public: float GetTransparency() const;
  
    public: void ShowBoundingBox(bool show);

    public: void ShowJoints(bool show);

    public: void ShowPhysics(bool);

    private: void PlaceImmovable( );

    public: virtual void SetImmovableBasePose( const Pose3d & pose );

    public: ContactParams *contact; 
  
    protected: Body *body;
  
    private: bool placeable;

    protected: dGeomID transId;

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

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

    protected: double dblMass;

    private: OgreVisual *bbVisual;

    private: float transparency;

    private: std::vector<OgreVisual*> visuals;

    private: XMLConfigNode *xmlNode;

    private: Pose3d immovableBasePose;
    private: Pose3d immovableRelativePose;

  };


}
#endif

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Last updated Aug 04 2007