IrrModel.h
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00001 #ifndef __IRR_MODEL_H__
00002 #define __IRR_MODEL_H__
00003 
00004 #include <irrlicht/irrlicht.h>
00005 #include <hrpModel/ModelLoaderUtil.h>
00006 
00007 class GLbody;
00008 class GLcamera;
00009 class GLlink;
00010 
00011 class GLscene
00012 {
00013 public:
00014     GLscene();
00015     ~GLscene();
00016     static GLscene *getInstance();
00017     bool init(int w=640, int h=480);
00018     void draw();
00019     GLbody *addBody(OpenHRP::BodyInfo_var i_binfo);
00020     void setCamera(GLcamera *i_camera);
00021     GLcamera *getCamera();
00022     irr::scene::ISceneManager *getSceneManager();
00023     irr::video::IVideoDriver *getVideoDriver();
00024 private:
00025     static GLscene *m_scene;
00026     irr::IrrlichtDevice *m_device;
00027     GLcamera *m_camera, *m_defaultCamera;
00028     irr::scene::ICameraSceneNode *m_cnode;
00029     irr::IEventReceiver *m_receiver;
00030 };
00031 
00032 class GLcamera
00033 {
00034 public:
00035     GLcamera(const OpenHRP::SensorInfo& i_info,
00036              irr::scene::ISceneNode *i_node);
00037     GLcamera(irr::scene::ISceneNode *i_node);
00038     void setCameraParameters(irr::scene::ICameraSceneNode *i_camera);
00039     void updateCameraTransform(irr::scene::ICameraSceneNode *i_camera);
00040     const char *name();
00041     int width();
00042     int height();
00043     float near();
00044     float far();
00045     float fovy();
00046     void getAbsTransform(double *o_T);
00047 private:
00048     irr::scene::ISceneNode *m_node;
00049     float m_near, m_far, m_fovy;
00050     int m_width, m_height;
00051 };
00052 
00053 class GLbody : public irr::scene::ISceneNode
00054 {
00055 public:
00056     GLbody(irr::scene::ISceneNode *i_parent, 
00057            irr::scene::ISceneManager *i_mgr, 
00058            irr::s32 i_id,
00059            OpenHRP::BodyInfo_var i_binfo);
00060     virtual void render() {}
00061     virtual const irr::core::aabbox3d<irr::f32>& getBoundingBox() const {
00062         return m_box; 
00063     }
00064     void setPosture(double *i_angles, double *i_pos, double *i_rpy);
00065     GLcamera *findCamera(const char *i_name);
00066 private:
00067     irr::core::aabbox3d<irr::f32> m_box;
00068     std::vector<GLlink *> m_links;
00069     GLlink *m_root;
00070 };
00071 
00072 #endif


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55