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//! 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()
{
}
}
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