~robot3d-team/robot3d/trunk

//! Specialized body class.

 

/*!

 * Predefined body class. Ready to use in a RobotActor.

 * This body represents the front part of the robot.

 *

 * @author Lutz Winkler

 *

 */

 

#include <srBody/kitBody1.h>

 

namespace srCore {

  

  // units need to be around one to make the ode most stable. Hereby 1 length union is equal to 5cm.

  #define SCALE_3DS                     0.02

  

  #define COLLISION_SIDE                        (64*SCALE_3DS)                                  //60            // cm

  #define COLLISION_LENGTH              (64*SCALE_3DS)                                  //85

  

  // units need to be around one to make the ode most stable. Hereby 1 length union is equal to 5cm.

  #define BODY_LENGTH                   1.7                                     // equals 85 mm

  #define BODY_HEIGHT                   1.2

  #define BODY_WIDTH                    1.2

  #define BODY_MASS                     0.3                                     //0.13

  

  using namespace srCore;

  

  //! Constructor

  /*! @param id a 16bit id, used to set the colliding bit parameter.

   *    @param x, y, z the position of the hinge in the world coordinate system.

   *  @param heading, pitch, roll the orientation of the axis of the hinge in the world coordinate system.

   *  @param Scene the scene in which the body should be placed.

   *

   */

  KITBody1::KITBody1(   RobotActorBase* robot,

                        float x, float y, float z,

                        float heading, float pitch, float roll)

                        

                        {

                          

                          // initializing. parameters: name, id (of the robot), position, orientation and the scene

                          // needs to be done first

                          // todo: at the moment scene needs to be given to each element, although we only have one scene

                          this->init("KITBody1", robot, x, y, z, heading, pitch, roll);

                          

                          // loading 3ds model

                          char file[250];

                          

                          if (SimulationUtils::getDetailedGraphics())

                            sprintf(file, "%s/StaticMeshes/KITcollBody.3ds", SimulationUtils::getStageProjectPath().c_str());

                          else

                            sprintf(file, "%s/StaticMeshes/KITcollBody1.3ds", SimulationUtils::getStageProjectPath().c_str());  //use this model in case of a bad graphics card

                            

                            printf ("loading file %s ...\n", file);

                          LoadFile(file);

                          //    SetModelTranslation(osg::Vec3(0,0,COLLISION_SIDE*25));

                          

//                        printf ("done \n");

                          

                          // scaling the model

                          this->setScale(SCALE_3DS,SCALE_3DS,SCALE_3DS);

                          // defining the collision box

                          this->setCollisionBox(COLLISION_SIDE, COLLISION_SIDE, COLLISION_SIDE);

                          

                          // our Object just needs a mass now ...

                          this->setMass(BODY_MASS, COLLISION_SIDE, COLLISION_SIDE, COLLISION_SIDE);

                          

                          this->GetOSGNode()->setNodeMask(SimulationUtils::geometryDetailsNodeMask);

                          

                          dtCore::Object* collModel = new dtCore::Object();

                          dtCore::Transform xform;

                          

                          switch (SimulationUtils::getCollisionGeometryDetails()) {

                            

                            case 0: //sprintf(file, "%s/StaticMeshes/KITcollBodySquare1.3ds",   SimulationUtils::getStageProjectPath().c_str()); break;

                            case 1: //sprintf(file, "%s/StaticMeshes/KITcollBodyPolygone1.3ds", SimulationUtils::getStageProjectPath().c_str()); break;

                            case 2: sprintf(file, "%s/StaticMeshes/KITcollBody.3ds",    SimulationUtils::getStageProjectPath().c_str()); break;

                            case 15: sprintf(file, "%s/StaticMeshes/newKITBody1.3ds",   SimulationUtils::getStageProjectPath().c_str()); break;

                            

                          }

                          

                          collModel->LoadFile(file);

                         

                          

                          collModel->SetScale(osg::Vec3(0.021,0.021,0.021));//this->GetScale());

                          

                          osg::StateSet* stateset;

                          collModel->GetOSGNode()->setNodeMask(SimulationUtils::collisionNodeMask);

                          stateset = collModel->GetOSGNode()->getOrCreateStateSet();

                          osg::Material * mm = dynamic_cast<osg::Material*>(stateset->getAttribute(osg::StateAttribute::MATERIAL));

                          if (!mm)

                          {

                            mm = new osg::Material;

                          }

                          mm->setAlpha(osg::Material::FRONT, 0.2);

                          mm->setAmbient(osg::Material::FRONT, osg::Vec4(0,0,0,0));

                          stateset->setAttributeAndModes( mm, osg::StateAttribute::OVERRIDE |

                          osg::StateAttribute::ON);

                          stateset->setMode(GL_BLEND,   osg::StateAttribute::OVERRIDE |

                          osg::StateAttribute::ON );

                          stateset->setMode(GL_LIGHTING,osg::StateAttribute::OVERRIDE |

                          osg::StateAttribute::ON );

                          stateset->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);

                          

                          

                          

                          this->renderCollisionGeometry(true);

                          

                          this->SetCollisionMesh(collModel->GetOSGNode());

                          

                          this->AddChild(collModel);

                          

                          this->setCollisionModel(collModel->GetOSGNode());

                          

                          

                          // to check if the collision geometry fits to the model:

                          // this->renderCollisionGeometry();

                          

                          // ... and then, it is ready to place it in the scene

                          this->addToScene();

                          

                        }

                        

                        

                        KITBody1::~KITBody1()

                        {

                        }

                        

}