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//! General body class, which all other body classes have to inherit.
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* Describes general properties of a body in the simulation environment.
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#include <dtCore/dt.h>
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#include <dtCore/object.h>
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#include <dtCore/globals.h>
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#include <dtCore/transform.h>
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#include <dtGame/gameactor.h>
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#include <dtCore/refptr.h>
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#include <osg/PositionAttitudeTransform>
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#include <osgDB/ReadFile>
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#include <osg/Material>
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#include <osg/NodeVisitor>
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#include <srCore/simulationUtils.h>
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#define _I(i,j) I[(i)*4+(j)]
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class osgBodyNodeVisitor;
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class osgBodyTransform : public osg::PositionAttitudeTransform {
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osgBodyTransform(dtCore::RefPtr<BodyBase> srBody);
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dtCore::RefPtr<BodyBase> getMyBody();
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virtual void accept(osgBodyNodeVisitor& bnv);
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virtual void traverse (osgBodyNodeVisitor &bnv);
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dtCore::RefPtr<BodyBase> myBody;
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typedef std::vector< dtCore::RefPtr<osgBodyTransform> > BodyTransformNodeList;
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class osgBodyNodeVisitor : public osg::NodeVisitor
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osgBodyNodeVisitor(BodyBase* root, TraversalMode tm=TRAVERSE_NONE);
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osgBodyNodeVisitor (TraversalMode tm=TRAVERSE_NONE);
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osgBodyNodeVisitor (VisitorType type, TraversalMode tm=TRAVERSE_NONE);
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virtual void apply(osgBodyTransform &node);
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// virtual void accept(osgBodyNodeVisitor& bnv);
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void addChildToBodyRoot (BodyBase* child);
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BodyBase* returnBodyRoot ();
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virtual ~osgBodyNodeVisitor ();
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class BodyBase : public dtCore::Object
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friend class ConnectorBase;
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friend class SimulationUtils;
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static std::map< dBodyID, BodyBase*> odeBodyMap;
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//! Register the body to the simulation, i.e. map the BodyBase object to the ODE body ID
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//! Merges the collision shape and the masses of two bodies together. theBody will become child of this body and the physics will be disabled of theBody
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void mergeBody(BodyBase* theBody);
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//! Adds the body to the scene, makes it visible and activates the physical behaviour
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void addToScene(); //dtCore::Scene*& scene, osg::Group*& osgGroup);
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//! Scaling of the model to Robot3D environment
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void setScale(float scaleX, float scaleY, float scaleZ);
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//! Show the collision geometry of the body.
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/*! Activate this to check manually/optically if collision geometry fits to the model.
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* Will also be used to indicate which robot is under manual control.
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void renderCollisionGeometry(bool renderIt);
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void renderCollisionGeometry2(bool renderIt);
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void colorBody(osg::Vec4 color);
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void colorCollisionShape(osg::Vec4 color);
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/*! Initializes the body. Needs to be called before using the body
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* @param name The name of the body
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* @param robot The robot the body belongs to
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* @param x,y,z The relative position of the body within the robot
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* @param heading, roll, pitch The relative orientation of the body within the robot
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void init( std::string name, RobotActorBase* robot,
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float x, float y, float z,
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float heading, float roll, float pitch);
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//! Return the body Id, which represents the geomCollide and geomCategory bits
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//! returns the global position of the body
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osg::Vec3f getTranslation() const;
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//! returns the global Rotation of the body ()
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osg::Vec3f getRotation() const;
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//! returns the scaling factor between the physical and the geometrical world
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osg::Vec3f getScale() const;
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//! returns the Transform of the Body
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dtCore::Transform getTransform() const {return this->xform;}
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//! sets the Transform of the Body
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virtual void setTransform(dtCore::Transform &transform);
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//! sets the position of the Body. Only use that while physics is deactivated.
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virtual void setTranslation(osg::Vec3f pos);
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//! sets the rotation of the Body. Only use that while physics is deactivated.
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virtual void setRotation(osg::Vec3f hrp);
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//! Returns the Robot the body belongs to
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RobotActorBase* getRobot() const {return myRobot;};
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//! Returns the current collision model of the body
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dtCore::RefPtr<osg::Node> getCollisionModel() const {return collisionModel;};
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//! Sets the collision model
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void setCollisionModel(dtCore::RefPtr<osg::Node> collModel);
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void setCollisionModel(osgBodyTransform* collModel);
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osgBodyTransform* getCollisionModel();
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unsigned long int getCollisionBits() const {return collCategoryBit;};
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void setCollisionBits(unsigned long int bit);
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//! Set the mass to this subOrgansim, consisting of this body and all its children
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void setSubOrgBodyMass(dMass *mass) {dMassSetParameters(&subOrgBodyMass, mass->mass,
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mass->c[0], mass->c[1], mass->c[2],
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mass->_I(0,0), mass->_I(1,1), mass->_I(2,2),
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mass->_I(1,2), mass->_I(1,3), mass->_I(2,3));};
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//! Returns the mass to this subOrgansim, consisting of this body and all its children
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void getSubOrgBodyMass(dMass &mass) {dMassSetParameters(&mass, subOrgBodyMass.mass,
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subOrgBodyMass.c[0], subOrgBodyMass.c[1], subOrgBodyMass.c[2],
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subOrgBodyMass._I(0,0), subOrgBodyMass._I(1,1), subOrgBodyMass._I(2,2),
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subOrgBodyMass._I(1,2), subOrgBodyMass._I(1,3), subOrgBodyMass._I(2,3));};
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//! Returns true, when the body has a contact with the floot or other obstacles
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bool hasContact() {return bodyHasContact;};
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//! To be set true, when that body has collided with an obstacle or the floor (currently by the simulationUtils class)
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void setContact(bool contact) {bodyHasContact = true;};
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RobotActorBase* myRobot;
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float scaleX, scaleY, scaleZ;
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//! collision model of merged bodies (e.g. the through the coupling devices merged bodies)
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//dtCore::RefPtr<osg::PositionAttitudeTransform>
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dtCore::RefPtr<osgBodyTransform> collisionModel;
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dMass subOrgBodyMass;
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void setModelTranslation(osg::Vec3 pos);
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void setAllModelTranslations(dtCore::Object &object, std::string theOtherObjectName, osg::Vec3 pos);
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// transformation of the body
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dtCore::Transform xform;
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//! If true, collision geometry will be rendered
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//!collision model of the single body
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dtCore::RefPtr<dtCore::Object> bodyCollisionModel;
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unsigned long int collCategoryBit;
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typedef std::map< dBodyID, BodyBase*> body_map_type;
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typedef body_map_type::value_type body_pair_type;
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//#include "../robotActorBase.h"
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inc/srCore/body/bodyBase.h
