osaODEBody.h

Go to the documentation of this file.

/*

  Author(s): Simon Leonard
  Created on: November 11 2009

  (C) Copyright 2008 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _osaODEBody_h
#define _osaODEBody_h

#include <ode/ode.h>

#include <osg/Geode>

#include <cisstVector/vctFixedSizeVector.h>
#include <cisstVector/vctMatrixRotation3.h>

#include <sawOpenSceneGraph/osaOSGBody.h>
#include <sawOpenDynamicsEngine/sawOpenDynamicsEngineExport.h>

// Forward declaration
class osaODEWorld;

class CISST_EXPORT osaODEBody : public osaOSGBody {
  
 public:

  // The state of a body
  struct State {
    vctMatrixRotation3<double>   R;
    vctFixedSizeVector<double,3> t;
    vctFixedSizeVector<double,3> v;
    vctFixedSizeVector<double,3> w;
  };

 private:
  
  osaODEBody::State ODEstate;
  double scale;
  osaODEWorld* odeworld;

  dBodyID bodyid;

  dMass* mass;


  dTriMeshDataID meshid;


  dGeomID geomid;

  dVector3* Vertices;
  int       VertexCount;
  vctDynamicMatrix<double> vctVertices;
  dTriIndex* Indices;
  int        IndexCount;
  double simplify_ratio;


  dSpaceID space;

  // Transformation from the center of mass to the intertial frame (base)
  vctFrame4x4<double> Rtcomb;

  void BuildODETriMesh( const vctFixedSizeVector<double,3>& com );

  // This is called from each OSG update traversal
  virtual void UpdateTransform();

  vctMatrixRotation3<double> GetOrientation() const;

  vctFixedSizeVector<double,3> GetPosition() const;

  void Initialize( const vctFrame4x4<double>& Rtwb );
           
  void Initialize( const vctFrame4x4<double>& Rtwb,
           double m,
           const vctFixedSizeVector<double,3>& com,
           const vctFixedSizeMatrix<double,3,3>& moit );
           
  
 public:


  osaODEBody( const std::string& model,
          osaODEWorld* odeworld,
          const vctFrame4x4<double>& Rtwb,
          double scale = 1.0,
          double alpha = 1.0,
          const std::string& options = std::string(""),
          osaOSGWorld* osgworld = NULL,
          double simplify_ratio = 0.0 );



  osaODEBody( const std::string& model,
          osaODEWorld* odeworld,
          const vctFrm3& Rtwb,
          double scale = 1.0,
          double alpha = 1.0,
          const std::string& options = std::string(""),
          osaOSGWorld* osgworld = NULL,
          double simplify_ratio = 0.0 );
            


  osaODEBody(   const std::string& model,
        osaODEWorld* odeWorld,
        const vctFrame4x4<double>& Rtwb,
        double m,
        const vctFixedSizeVector<double,3>& com,
        const vctFixedSizeMatrix<double,3,3>& moit,
        double scale = 1.0,
        double alpha = 1.0,
        const std::string& options = std::string(""),
        osaOSGWorld* osgworld = NULL,
        double simplify_ratio = 0.0 );


  osaODEBody(   const std::string& model,
        osaODEWorld* odeworld, 
        const vctFrm3& Rt,
        double m,
        const vctFixedSizeVector<double,3>& tbcom,
        const vctFixedSizeMatrix<double,3,3>& moit,
        double scale = 1.0,
        double alpha = 1.0,
        const std::string& options = std::string(""),
        osaOSGWorld* osgworld = NULL,
        double simplify_ratio = 0.0 );


  osaODEBody(   const std::string& model,
        osaODEWorld* odeworld, 
        const vctFrame4x4<double>& Rt,
        double m,
        double scale = 1.0,
        double alpha = 1.0,
        const std::string& options = std::string(""),
        osaOSGWorld* osgworld = NULL,
        double simplify_ratio = 0.0 );
  

  osaODEBody(   const std::string& model,
        osaODEWorld* odeworld, 
        const vctFrm3& Rt,
        double m,
        double scale = 1.0,
        double alpha = 1.0,
        const std::string& options = std::string(""),
        osaOSGWorld* osgworld = NULL,
        double simplify_ratio = 0.0 );
  

  ~osaODEBody();

  void Enable();

  void Disable();

  dBodyID GetBodyID() const { return bodyid; }

  dGeomID GetGeomID() const { return geomid; }

  const std::string& GetUserData();

  void SetTransform( const vctFrame4x4<double>& Rt );
  vctFrm3 GetTransform() const;

  //vctDynamicMatrix<double> GetVertices() const;
  
};

#endif