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renderleda.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University and Steve 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 // Iowa State University 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_RENDERLEDA_H
00020 #define MSL_RENDERLEDA_H
00021 
00022 #include <LEDA/file.h>
00023 #include <LEDA/list.h>
00024 #include <LEDA/matrix.h>
00025 #include <LEDA/point.h>
00026 #include <LEDA/polygon.h>
00027 #include <LEDA/stream.h>
00028 #include <LEDA/string.h>
00029 #include <LEDA/vector.h>
00030 #include <LEDA/d3_point.h>
00031 #include <LEDA/window.h>
00032 
00033 #include "3Dtriangle.h"
00034 #include "render.h"
00035 
00036 #include <LEDA/REDEFINE_NAMES.h>
00037 
00039 class RenderLeda: public Render
00040 {
00041  protected:
00042   window *W;
00043   array<list<polygon> > Env;
00044   array<list<polygon> > Bodies;
00045   bool FirstFrameDisplayed;
00046   vector PreviousFrame;
00047  public:
00048   int TransformDim; // Transformation dim: either 3 or 6
00049 
00050   RenderLeda();
00051   RenderLeda(string filepath);
00052   RenderLeda(Scene *s, string filepath);
00053   virtual ~RenderLeda();
00054 
00055   virtual void ShowCurrentAnimationFrame();
00056 
00057   virtual void Init();
00058   virtual void Reset();
00059   virtual void HandleEvents();
00060   virtual void Terminate();
00061 
00062   void InitData();
00063   void DrawBodies(const vector &x);
00064   void DrawEnv();
00065 
00066   virtual void DrawPath();
00067 };
00068 
00069 
00070 #include <LEDA/UNDEFINE_NAMES.h>
00071 
00072 #endif
Motion Strategy Library


Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.