Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[18336] pkg/trunk (Page 40)

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Revision: 18336
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18336&view=rev
Author:   isucan
Date:     2009-07-06 20:23:36 +0000 (Mon, 06 Jul 2009)

Log Message:
-----------
shapt type for bodies

Modified Paths:
--------------
    pkg/trunk/util/geometric_shapes/include/geometric_shapes/bodies.h
    pkg/trunk/util/geometric_shapes/include/geometric_shapes/shapes.h
    pkg/trunk/util/geometric_shapes/src/bodies.cpp
    pkg/trunk/world_models/collision_space/src/environmentODE.cpp

Modified: pkg/trunk/util/geometric_shapes/include/geometric_shapes/bodies.h
===================================================================

--- pkg/trunk/util/geometric_shapes/include/geometric_shapes/bodies.h	2009-07-06 20:23:32 UTC (rev 18335)
+++ pkg/trunk/util/geometric_shapes/include/geometric_shapes/bodies.h	2009-07-06 20:23:36 UTC (rev 18336)
@@ -70,12 +70,19 @@
 	    m_scale = 1.0;
 	    m_padding = 0.0;
 	    m_pose.setIdentity();
+	    m_type = shapes::UNKNOWN;
 	}
 	
 	virtual ~Body(void)
 	{
 	}
 	
+	/** \brief Get the type of shape this body represents */
+	shapes::ShapeType getType(void) const
+	{
+	    return m_type;
+	}
+	
 	/** \brief If the dimension of the body should be scaled, this
 	    method sets the scale. Default is 1.0 */
 	void setScale(double scale)
@@ -146,9 +153,10 @@
 	virtual void updateInternalData(void) = 0;
 	virtual void useDimensions(const shapes::Shape *shape) = 0;
 	
-	btTransform m_pose;	
-	double      m_scale;
-	double      m_padding;	    
+	shapes::ShapeType m_type;
+	btTransform       m_pose;	
+	double            m_scale;
+	double            m_padding;	
     };
     
     /** \brief Definition of a sphere */
@@ -158,10 +166,12 @@
 	Sphere(void) : Body()
 	{
 	    m_radius = 0.0;
+	    m_type = shapes::SPHERE;
 	}
 	
 	Sphere(const shapes::Shape *shape) : Body()
 	{
+	    m_type = shapes::SPHERE;
 	    setDimensions(shape);
 	}
 	
@@ -191,10 +201,12 @@
 	Cylinder(void) : Body()
 	{
 	    m_length = m_radius = 0.0;
+	    m_type = shapes::CYLINDER;
 	}
 	
 	Cylinder(const shapes::Shape *shape) : Body()
 	{
+	    m_type = shapes::CYLINDER;
 	    setDimensions(shape);
 	}
 	
@@ -231,10 +243,12 @@
 	Box(void) : Body()
 	{
 	    m_length = m_width = m_height = 0.0;
+	    m_type = shapes::BOX;
 	}
 	
 	Box(const shapes::Shape *shape) : Body()
 	{
+	    m_type = shapes::BOX;
 	    setDimensions(shape);
 	}
 	
@@ -271,12 +285,14 @@
     public:
 	
 	ConvexMesh(void) : Body()
-	{
+	{	    
+	    m_type = shapes::MESH;
 	    m_meshCenter.setValue(btScalar(0), btScalar(0), btScalar(0));
 	}
 	
 	ConvexMesh(const shapes::Shape *shape) : Body()
-	{
+	{	  
+	    m_type = shapes::MESH;
 	    m_meshCenter.setValue(btScalar(0), btScalar(0), btScalar(0));
 	    setDimensions(shape);
 	}

Modified: pkg/trunk/util/geometric_shapes/include/geometric_shapes/shapes.h
===================================================================
--- pkg/trunk/util/geometric_shapes/include/geometric_shapes/shapes.h	2009-07-06 20:23:32 UTC (rev 18335)
+++ pkg/trunk/util/geometric_shapes/include/geometric_shapes/shapes.h	2009-07-06 20:23:36 UTC (rev 18336)
@@ -48,6 +48,10 @@
 namespace shapes
 {
     
+    /** \brief A list of known shape types */
+    enum ShapeType { UNKNOWN, SPHERE, CYLINDER, BOX, MESH };
+    
+    
     /** \brief A basic definition of a shape. Shapes are considered centered at origin */
     class Shape
     {		    
@@ -61,9 +65,7 @@
 	{
 	}
 	
-	enum { UNKNOWN, SPHERE, CYLINDER, BOX, MESH } 
-	    type;
-	
+	ShapeType type;
     };
     
     /** \brief Definition of a sphere */

Modified: pkg/trunk/util/geometric_shapes/src/bodies.cpp
===================================================================
--- pkg/trunk/util/geometric_shapes/src/bodies.cpp	2009-07-06 20:23:32 UTC (rev 18335)
+++ pkg/trunk/util/geometric_shapes/src/bodies.cpp	2009-07-06 20:23:36 UTC (rev 18336)
@@ -46,16 +46,16 @@
     if (shape)
 	switch (shape->type)
 	{
-	case shapes::Shape::BOX:
+	case shapes::BOX:
 	    body = new bodies::Box(shape);
 	    break;
-	case shapes::Shape::SPHERE:
+	case shapes::SPHERE:
 	    body = new bodies::Sphere(shape);
 	    break;
-	case shapes::Shape::CYLINDER:
+	case shapes::CYLINDER:
 	    body = new bodies::Cylinder(shape);
 	    break;
-	case shapes::Shape::MESH:
+	case shapes::MESH:
 	    body = new bodies::ConvexMesh(shape);
 	    break;
 	default:
@@ -261,7 +261,7 @@
     HullLibrary hl;
     if (hl.CreateConvexHull(hd, hr) == QE_OK)
     {
-	std::cout << "Convex hull has " << hr.m_OutputVertices.size() << "(" << hr.mNumOutputVertices << ") vertices (down from " << mesh->vertexCount << "), " << hr.mNumFaces << " faces" << std::endl;
+	std::cout << "Convex hull has " << hr.m_OutputVertices.size() << " vertices (down from " << mesh->vertexCount << "), " << hr.mNumFaces << " faces" << std::endl;
 
 	m_vertices.reserve(hr.m_OutputVertices.size());
 	btVector3 sum(btScalar(0), btScalar(0), btScalar(0));	

Modified: pkg/trunk/world_models/collision_space/src/environmentODE.cpp
===================================================================
--- pkg/trunk/world_models/collision_space/src/environmentODE.cpp	2009-07-06 20:23:32 UTC (rev 18335)
+++ pkg/trunk/world_models/collision_space/src/environmentODE.cpp	2009-07-06 20:23:36 UTC (rev 18336)
@@ -96,24 +96,24 @@
     dGeomID g = NULL;
     switch (shape->type)
     {
-    case shapes::Shape::SPHERE:
+    case shapes::SPHERE:
 	{
 	    g = dCreateSphere(space, static_cast<shapes::Sphere*>(shape)->radius * scale + padding);
 	}
 	break;
-    case shapes::Shape::BOX:
+    case shapes::BOX:
 	{
 	    const double *size = static_cast<shapes::Box*>(shape)->size;
 	    g = dCreateBox(space, size[0] * scale + padding, size[1] * scale + padding, size[2] * scale + padding);
 	}	
 	break;
-    case shapes::Shape::CYLINDER:
+    case shapes::CYLINDER:
 	{
 	    g = dCreateCylinder(space, static_cast<shapes::Cylinder*>(shape)->radius * scale + padding,
 				static_cast<shapes::Cylinder*>(shape)->length * scale + padding);
 	}
 	break;
-    case shapes::Shape::MESH:
+    case shapes::MESH:
 	{
 	    dTriMeshDataID data = dGeomTriMeshDataCreate();
 	    shapes::Mesh *mesh = static_cast<shapes::Mesh*>(shape);


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Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[18336] pkg/trunk (Page 40)

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