Motion Strategy Library

00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steven M. LaValle.     
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // The University of Illinois and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #ifndef MSL_RENDERIV_H
00020 #define MSL_RENDERIV_H
00021 
00022 
00023 // MSL includes
00024 #include "triangle.h"
00025 #include "render.h"
00026 #include "point.h"
00027 
00028 // Inventor classes
00029 class SoSeparator;
00030 class SoXtExaminerViewer;
00031 class SoSensor;
00032 class SoTransform;
00033 class SoSwitch;
00034 class SoVertexProperty;
00035 
00036 //-----------------------------------------------------------------
00037 //                       Class RenderIv
00038 //
00040 //
00041 //-----------------------------------------------------------------
00042 class RenderIv: public Render
00043 {
00044 public: 
00045   
00046   // Constructors & Destructor
00047   RenderIv();
00048   RenderIv(string filepath);
00049   RenderIv(Scene *s, string filepath);
00050   virtual ~RenderIv();
00051   
00052   // method to reset the scene
00053   virtual void Reset();
00054  
00055   // initialization
00056   virtual void Init();
00057   virtual void MainLoop(Gui *g);
00058   
00059   
00060 protected:
00061 
00062  // event callbacks
00063   static void  _TimerCB(void* userData, SoSensor*);
00064   inline void  _IdleFunction();
00065 
00066  // initialization
00067   SoSeparator* _ReadIvFile(const char *filename);
00068   SoSeparator* _InitObject(const string &fname);
00069   bool         _InitBoundsDisplay();
00070   bool         _InitPathDisplay();
00071   SoSeparator* _InitTriangleGeom(list<MSLTriangle> &triangles);
00072   bool         _InitData();
00073 
00074  // helper methods
00075   inline void  _SetSwitch(SoSwitch *pSwitch, bool bFlag);
00076   inline void  _UpdatePathDisplay();
00077   inline void  _SetTransform(SoTransform* pTrans,
00078                              double tx, double ty, double tz,
00079                              double rx, double ry, double rz);
00080   inline void  _UpdateBodies(const MSLVector &qConfig);
00081 
00082 
00083  // Data
00084 
00085   SoXtExaminerViewer*  _viewer;         // the viewer window
00086   Gui*                 _pGui;           // gui pointer
00087 
00088   SoSeparator*         _ivRoot;         // scene graph root
00089   SoSeparator*         _ivData;         // root of all scene data
00090 
00091   SoSwitch*            _ivBoundsSwitch; // workspace boundary display
00092   bool                 _bDisplayBounds;
00093 
00094   SoSwitch*            _ivPathSwitch;   // path display
00095   SoVertexProperty*    _pPathVertexProp;
00096   int                  _pathFrames;
00097   bool                 _bDisplayPath;
00098 
00099   list<SoTransform*>   _bodyTrans;      // list of body transforms
00100 };
00101 
00102 
00103 
00104 #endif
renderiv.h
