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//! Specialized body class.
/*!
* Predefined body class. Ready to use in a RobotActor.
* This body represents the wheels of the robot.
*
* @author Lutz Winkler
*
*/
#include <srBody/led.h>
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.
*
*/
Led::Led(dtCore::RefPtr<BodyBase> attachedBody,
osg::Vec3f translation, osg::Vec3f orientation,
std::string name, std::string type, bool active):
ObjectBase(attachedBody, translation, orientation, name, type, active),
myColor (new osg::Vec4(1.0f, 0.0f, 0.0f, 1.0f)),
cv (new ColorVisitor( *myColor )),
ledSize (0.2)
{
// loading 3ds model
char file[50];
sprintf(file, "%s/StaticMeshes/sphere.3ds", SimulationUtils::getStageProjectPath().c_str());
LoadFile(file, false);
// this->mesh->SetModelRotation(osg::Vec3(90,90,0));//relOrientation.x(), relOrientation.y()+90, relOrientation.z()));
// this->mesh->SetModelTranslation(osg::Vec3(relTranslation.x() * scale.x(), relTranslation.y() * scale.y(), relTranslation.z() * scale.z()));
this->myBody->AddChild(this);
dtCore::Transform offset(relTranslation.x(), relTranslation.y(), relTranslation.z(), relOrientation.x()+180, relOrientation.y(), relOrientation.z());
SetTransform( offset, dtCore::Transformable::REL_CS );
// scaling the model
SetScale(osg::Vec3(ledSize, ledSize, ledSize));
// ... and then, it is ready to place it in the scene
//this->addToScene(gamemanager->GetScene(), osgGroup);
GetOSGNode()->traverse(*cv);
}
void Led::setColor(osg::Vec4 color) {
cv = new ColorVisitor(color);
GetOSGNode()->traverse(*cv);
}
Led::~Led()
{
delete myColor;
myColor = NULL;
delete cv;
cv = NULL;
}
}
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