~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/kitScrew.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.

 *

 */

KITScrew::KITScrew(     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("KITScrew", robot, x, y, z, heading, pitch, roll);

 

        // loading 3ds model

        char file[250];

 

        if (SimulationUtils::getDetailedGraphics())

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

        else

                sprintf(file, "%s/StaticMeshes/symbrionDummy.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(0,0,0));

 

        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);

 

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

 

        dtCore::Transform xform;

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

 

        collModel->LoadFile(file);

        collModel->SetScale(this->GetScale());

        SetCollisionCategoryBits(UNSIGNED_BIT(2));

        SetCollisionCollideBits(UNSIGNED_BIT(1));                        

        SetCollisionMesh(collModel->GetOSGNode());

        

        osg::StateSet* stateset;

        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(false);

        

        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();

        

}

 

 

KITScrew::~KITScrew()

{

}

 

}