Revision: 6891
http://playerstage.svn.sourceforge.net/playerstage/?rev=6891&view=rev
Author: natepak
Date: 2008-07-21 05:27:12 +0000 (Mon, 21 Jul 2008)
Log Message:
-----------
Fixed seg fault when closing. Removed stringvalue class. Stereocamera
controller now outputs two images.
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/Iface.cc
code/gazebo/trunk/libgazebo/gazebo.h
code/gazebo/trunk/server/GazeboMessage.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/SConscript
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/XMLConfig.cc
code/gazebo/trunk/server/XMLConfig.hh
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.hh
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
code/gazebo/trunk/server/gui/GLWindow.cc
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/gui/Gui.hh
code/gazebo/trunk/server/main.cc
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/MapGeom.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.hh
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/worlds/models/bandit.model
Removed Paths:
-------------
code/gazebo/trunk/server/StringValue.cc
code/gazebo/trunk/server/StringValue.hh
Modified: code/gazebo/trunk/libgazebo/Iface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Iface.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/libgazebo/Iface.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -113,22 +113,24 @@
this->server = server;
+ this->id = id;
+
// Went cant have null id's
- if (id.empty())
+ if (this->id.empty())
{
stream << "interface [" << this->type << "] id is NULL";
throw(stream.str());
}
// We cannot have id with '.'
- if (strchr(id.c_str(), '.'))
+ if (strchr(this->id.c_str(), '.'))
{
- stream << "invalid id [" << id << "] (must not contain '.')";
+ stream << "invalid id [" << this->id << "] (must not contain '.')";
throw(stream.str());
}
// Work out the filename
- this->Filename(id);
+ this->Filename(this->id);
// Create and open the file
this->mmapFd = open(this->filename.c_str(), O_RDWR | O_CREAT | O_TRUNC,
S_IREAD | S_IWRITE);
@@ -364,6 +366,13 @@
}
//////////////////////////////////////////////////////////////////////////////
+/// Get the ID of the inteface
+std::string Iface::GetId() const
+{
+ return this->id;
+}
+
+//////////////////////////////////////////////////////////////////////////////
/// Get the number of connections
int Iface::GetOpenCount()
{
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2008-07-21 05:27:12 UTC (rev
6891)
@@ -297,6 +297,9 @@
/// \return The type of interface
public: std::string GetType() const;
+ /// \brief Get the ID of the inteface
+ public: std::string GetId() const;
+
private: std::string Filename(std::string id);
/// The server we are associated with
@@ -317,6 +320,8 @@
/// type of interface
protected: std::string type;
+ protected: std::string id;
+
private: bool creator;
private: size_t size;
Modified: code/gazebo/trunk/server/GazeboMessage.cc
===================================================================
--- code/gazebo/trunk/server/GazeboMessage.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/GazeboMessage.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -97,18 +97,17 @@
void GazeboMessage::Save(XMLConfigNode *node)
{
- node->SetValue("verbosity", this->level);
+ /*node->SetValue("verbosity", this->level);
node->SetValue("logData", this->logData);
- /*
- node->NewElement("verbosity", String(this->level)); //std::ostringstream
<< this->level);
+ //node->NewElement("verbosity", String(this->level)); //std::ostringstream
<< this->level);
- node->NewElement("logData", gazebo::String(this->logData));
+ //node->NewElement("logData", gazebo::String(this->logData));
- if (this->logData)
- node->NewElement("logData", std::ostringstream << "true");
- else
- node->NewElement("logData", std::ostringstream << "true");
+ //if (this->logData)
+ // node->NewElement("logData", std::ostringstream << "true");
+ //else
+ // node->NewElement("logData", std::ostringstream << "true");
*/
}
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2008-07-18 23:57:33 UTC (rev 6890)
+++ code/gazebo/trunk/server/Model.cc 2008-07-21 05:27:12 UTC (rev 6891)
@@ -181,7 +181,7 @@
void Model::Save()
{
- std::map<std::string, Body* >::iterator bodyIter;
+ /*std::map<std::string, Body* >::iterator bodyIter;
std::map<std::string, Controller* >::iterator contIter;
std::map<std::string, Joint* >::iterator jointIter;
@@ -225,6 +225,7 @@
contIter->second->Save();
}
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/SConscript
===================================================================
--- code/gazebo/trunk/server/SConscript 2008-07-18 23:57:33 UTC (rev 6890)
+++ code/gazebo/trunk/server/SConscript 2008-07-21 05:27:12 UTC (rev 6891)
@@ -19,7 +19,6 @@
'GazeboMessage.cc',
'Model.cc',
'Simulator.cc',
- 'StringValue.cc'
]
headers.append(
@@ -33,7 +32,6 @@
'#/server/Simulator.hh',
'#/server/SingletonT.hh',
'#/server/StaticPluginRegister.hh',
- '#/server/StringValue.hh',
'#/server/Time.hh',
'#/server/Vector2.hh',
'#/server/Vector3.hh',
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/Simulator.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -419,16 +419,16 @@
void Simulator::SaveGui(XMLConfigNode *node)
{
- Vector2<int> size;
+ /*Vector2<int> size;
XMLConfigNode* childNode = node->GetChild("gui");
if (childNode && this->gui)
{
size.x = this->gui->GetWidth();
size.y = this->gui->GetHeight();
- childNode->SetValue("size", size);
+ //childNode->SetValue("size", size);
//TODO: node->SetValue("pos", Vector2<int>(x,y));
- }
+ }*/
}
Deleted: code/gazebo/trunk/server/StringValue.cc
===================================================================
--- code/gazebo/trunk/server/StringValue.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/StringValue.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -1,150 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-/* Desc: A helpfull StringValue class, mostly a converter
- * Author: Jordi Polo
- * Date: 3 Jan 2008
- * SVN: $Id:$
- */
-
-#include "Vector3.hh"
-#include "Vector2.hh"
-#include "Quatern.hh"
-#include <OgreColourValue.h>
-
-#include "StringValue.hh"
-
-using namespace gazebo;
-
-////////////////////////////////////////////////////////////////////////////////
-/// Copy Constructor
-StringValue::StringValue(const StringValue& data)
-{
- stream << data.GetStr();
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert Vector3 to string
-StringValue::StringValue(Vector3 data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert Vector2<int> to string
-StringValue::StringValue(Vector2<int> data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert Vector2<double> to string
-StringValue::StringValue(Vector2<double> data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert Quatern to string
-StringValue::StringValue(Quatern data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert bool to string
-StringValue::StringValue(bool data)
-{
- if (data)
- stream << "true";
- else
- stream << "false";
-}
-
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert int to string
-StringValue::StringValue(int data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert double to string
-StringValue::StringValue(double data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert float to string
-StringValue::StringValue(float data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Convert float to string
-StringValue::StringValue(const char* data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Ogre colour value to string
-StringValue::StringValue(std::string data)
-{
- stream << data;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// A std string
-StringValue::StringValue(Ogre::ColourValue* data)
-{
- stream << data->r << " " <<data->g <<" " << data->b << " " << data->a;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// destructor
-StringValue::~StringValue()
-{}
-
-////////////////////////////////////////////////////////////////////////////////
-/// True if the string is null
-bool StringValue::IsNull() const
-{
- bool null=false;
- if (stream.str()==std::string())
- null=true;
- return null;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Get the value as a std string
-std::string StringValue::GetStr() const
-{
- return stream.str();
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Get the value as a char string
-const char* StringValue::GetCharStr() const
-{
- return stream.str().c_str();
-}
Deleted: code/gazebo/trunk/server/StringValue.hh
===================================================================
--- code/gazebo/trunk/server/StringValue.hh 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/StringValue.hh 2008-07-21 05:27:12 UTC (rev
6891)
@@ -1,106 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-/* Desc: A helpfull StringValue class, mostly a converter
- * Author: Jordi Polo
- * Date: 3 Jan 2008
- * SVN: $Id:$
- */
-
-#ifndef STRING_HH
-#define STRING_HH
-
-#include <iostream>
-#include <sstream>
-#include <string>
-
-#include "Vector3.hh"
-#include "Vector2.hh"
-#include "Quatern.hh"
-
-namespace Ogre
-{
- class ColourValue;
-}
-
-namespace gazebo
-{
-/// \addtogroup gazebo_server
-/// \brief StringValue conversions and tools
-/// \{
-
- class StringValue
- {
- /// \brief Copy Constructor
- public: StringValue(const StringValue& data);
-
- /// \brief Convert Vector3 to string
- public: StringValue(Vector3 data);
-
- /// \brief Convert Vector2<int> to string
- public: StringValue(Vector2<int> data);
-
- /// \brief Convert Vector2<double> to string
- public: StringValue(Vector2<double> data);
-
- /// \brief Convert Quatern to string
- public: StringValue(Quatern data);
-
- /// \brief Convert bool to string
- public: StringValue(bool data);
-
- /// \brief Convert int to string
- public: StringValue(int data);
-
- /// \brief Convert double to string
- public: StringValue(double data);
-
- /// \brief Convert float to string
- public: StringValue(float data);
-
- /// \brief Convert float to string
- public: StringValue(const char* data);
-
- /// \brief Ogre colour value to string
- public: StringValue(Ogre::ColourValue* data);
-
- /// \brief A std string
- public: StringValue(std::string data);
-
- /// \brief destructor
- public: ~StringValue();
-
- /// \brief True if the string is null
- public: bool IsNull() const;
-
- /// \brief Get the value as a std string
- public: std::string GetStr() const;
-
- /// \brief Get the value as a char string
- public: const char* GetCharStr() const;
-
- //private: std::string str;
- private: std::ostringstream stream;
- };
-
-
-/// \}
-}
-
-#endif
Modified: code/gazebo/trunk/server/XMLConfig.cc
===================================================================
--- code/gazebo/trunk/server/XMLConfig.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/XMLConfig.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -836,7 +836,7 @@
////////////////////////////////////////////////////////////////////////////
// Set the value associated with a node.
-void XMLConfigNode::SetValue(const std::string &key, const StringValue &data,
int require, int type)
+/*void XMLConfigNode::SetValue(const std::string &key, const StringValue
&data, int require, int type)
{
bool success;
@@ -847,7 +847,7 @@
this->NewNode(key.c_str(), data.GetCharStr(), type);
}
-}
+}*/
////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/XMLConfig.hh
===================================================================
--- code/gazebo/trunk/server/XMLConfig.hh 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/XMLConfig.hh 2008-07-21 05:27:12 UTC (rev
6891)
@@ -35,7 +35,6 @@
#include "Vector2.hh"
#include "Quatern.hh"
#include "Time.hh"
-#include "StringValue.hh"
namespace gazebo
{
@@ -195,7 +194,7 @@
/// \param value : the name of the element or attribute to write
/// \param require : Require=1 means that if not found a new node will be
created
/// \param type : Only if a new node is created, the type must be specified
- public: void SetValue(const std::string &key, const StringValue &data, int
require =0, int type=0);
+ //public: void SetValue(const std::string &key, const StringValue &data,
int require =0, int type=0);
/// \brief Get a node's value, which is either a attribute or child node
value.
protected: xmlChar* GetNodeValue( const std::string &key ) const;
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-07-18 23:57:33 UTC (rev 6890)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.cc
2008-07-21 05:27:12 UTC (rev 6891)
@@ -70,9 +70,15 @@
if ((*iter)->GetType() == "stereo")
this->stereoIface = dynamic_cast<StereoCameraIface*>(*iter);
else if ((*iter)->GetType() == "camera")
- this->cameraIface = dynamic_cast<CameraIface*>(*iter);
+ {
+ CameraIface *ciface = dynamic_cast<CameraIface*>(*iter);
+ this->cameraIfaces[ciface->GetId()] = ciface;
+ }
}
+ this->leftCameraName = node->GetString("leftcamera","", 1);
+ this->rightCameraName = node->GetString("rightcamera","", 1);
+
if (!this->stereoIface)
gzthrow("Stereo_Camera controller requires a StereoCameraIface");
}
@@ -87,15 +93,23 @@
// Update the controller
void Stereo_Camera::UpdateChild()
{
- if (this->cameraIface)
+ std::map< std::string, CameraIface*>::iterator iter;
+
+ for (iter = this->cameraIfaces.begin();
+ iter != this->cameraIfaces.end(); iter++)
{
- this->cameraIface->Lock(1);
- if (this->cameraIface->data->head.openCount > 0)
- this->PutCameraData();
- this->cameraIface->Unlock();
+ iter->second->Lock(1);
- // New data is available
- this->cameraIface->Post();
+ if (iter->second->data->head.openCount > 0)
+ {
+ if (this->leftCameraName == iter->first)
+ this->PutCameraData( iter->second->data, 0 );
+ else
+ this->PutCameraData( iter->second->data, 1 );
+ }
+
+ iter->second->Unlock();
+ iter->second->Post();
}
if (this->stereoIface)
@@ -175,9 +189,9 @@
////////////////////////////////////////////////////////////////////////////////
// Put camera data to the interface
-void Stereo_Camera::PutCameraData()
+void Stereo_Camera::PutCameraData(CameraData *camera_data, unsigned int camera)
{
- CameraData *camera_data = this->cameraIface->data;
+ //CameraData *camera_data = this->cameraIface->data;
const unsigned char *rgb_src = NULL;
unsigned char *rgb_dst = NULL;
Pose3d cameraPose;
@@ -202,10 +216,9 @@
camera_data->camera_pose.yaw = cameraPose.rot.GetYaw();
// Copy the pixel data to the interface
- rgb_src = this->myParent->GetImageData(0);
+ rgb_src = this->myParent->GetImageData(camera);
rgb_dst = camera_data->image;
memcpy(rgb_dst, rgb_src, camera_data->image_size);
-
}
Modified: code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.hh
===================================================================
--- code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.hh
2008-07-18 23:57:33 UTC (rev 6890)
+++ code/gazebo/trunk/server/controllers/camera/stereo/Stereo_Camera.hh
2008-07-21 05:27:12 UTC (rev 6891)
@@ -28,6 +28,8 @@
#ifndef STEREO_CAMERA_HH
#define STEREO_CAMERA_HH
+#include <map>
+
#include "Controller.hh"
namespace gazebo
@@ -93,12 +95,15 @@
private: void PutStereoData();
/// \brief Put camera data to the iface
- private: void PutCameraData();
+ private: void PutCameraData(CameraData *camera_data, unsigned int camera);
/// The camera interface
private: StereoCameraIface *stereoIface;
- private: CameraIface *cameraIface;
+ private: std::map< std::string, CameraIface*> cameraIfaces;
+ private: std::string leftCameraName;
+ private: std::string rightCameraName;
+
/// The parent sensor
private: StereoCameraSensor *myParent;
Modified:
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2008-07-18 23:57:33 UTC (rev 6890)
+++
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2008-07-21 05:27:12 UTC (rev 6891)
@@ -113,11 +113,12 @@
// Load the controller
void Differential_Position2d::SaveChild(XMLConfigNode *node)
{
- node->SetValue("wheelSeparation",this->wheelSep);
+ /*node->SetValue("wheelSeparation",this->wheelSep);
node->SetValue("wheelDiameter",this->wheelDiam);
node->SetValue("torque",this->torque);
// node->SetValue("leftJoint",this->XMLData["leftJointName"]);
// node->SetValue("rightJoint",this->XMLData["rightJointName"]);
+*/
}
Modified: code/gazebo/trunk/server/gui/GLWindow.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/gui/GLWindow.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -122,17 +122,6 @@
// Update function
void GLWindow::Update()
{
- /*if (this->userCamera && this->userCamera->GetUserMovable())
- {
- this->userCamera->Translate(
- this->directionVec * (Simulator::Instance()->GetRealTime() -
this->lastUpdateTime) );
- this->directionVec.Set(0,0,0);
- }
-
- this->lastUpdateTime = Simulator::Instance()->GetRealTime();
-
- this->userCamera->Update();
- */
if (this->activeCamera && this->activeCamera->GetUserMovable())
{
this->activeCamera->Translate(
@@ -216,17 +205,6 @@
/// Handle a mouse drag
void GLWindow::HandleMouseDrag()
{
- /*if (this->userCamera && this->userCamera->GetUserMovable())
- {
- if (this->leftMousePressed)
- {
- Vector2<int> d = this->mousePos - this->prevMousePos;
- this->userCamera->RotateYaw(DTOR(-d.x * this->rotateAmount));
- this->userCamera->RotatePitch(DTOR(d.y * this->rotateAmount));
- }
- }
- */
-
if (this->activeCamera && this->activeCamera->GetUserMovable())
{
if (this->leftMousePressed)
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2008-07-18 23:57:33 UTC (rev 6890)
+++ code/gazebo/trunk/server/gui/Gui.cc 2008-07-21 05:27:12 UTC (rev 6891)
@@ -79,6 +79,8 @@
// Create a dummy rendering window. This creates a context, and allows Ogre
// to initialize properly
OgreCreator::CreateWindow(this, 1, 1);
+
+ this->hasFocus = true;
}
////////////////////////////////////////////////////////////////////////////////
@@ -133,12 +135,18 @@
/// Handle an event
int Gui::handle(int event)
{
-
- switch (event)
+ switch(event)
{
+ case FL_FOCUS:
+ this->hasFocus = true;
+ break;
+ case FL_UNFOCUS:
+ this->hasFocus = false;
+ break;
case FL_HIDE:
- Simulator::Instance()->SetUserQuit();
- return 1;
+ if (this->hasFocus)
+ Simulator::Instance()->SetUserQuit();
+ break;
}
return Fl_Window::handle(event);
Modified: code/gazebo/trunk/server/gui/Gui.hh
===================================================================
--- code/gazebo/trunk/server/gui/Gui.hh 2008-07-18 23:57:33 UTC (rev 6890)
+++ code/gazebo/trunk/server/gui/Gui.hh 2008-07-21 05:27:12 UTC (rev 6891)
@@ -76,6 +76,8 @@
private: Toolbar *toolbar;
private: StatusBar *statusbar;
private: GLFrameManager *frameMgr;
+
+ private: bool hasFocus;
};
}
Modified: code/gazebo/trunk/server/main.cc
===================================================================
--- code/gazebo/trunk/server/main.cc 2008-07-18 23:57:33 UTC (rev 6890)
+++ code/gazebo/trunk/server/main.cc 2008-07-21 05:27:12 UTC (rev 6891)
@@ -311,5 +311,6 @@
return -1;
}
+ printf("Done.\n");
return 0;
}
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/physics/Body.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -127,7 +127,7 @@
// Save the body based on our XMLConfig node
void Body::Save()
{
- std::vector< Geom* >::iterator giter;
+ /*std::vector< Geom* >::iterator giter;
std::vector< Sensor* >::iterator siter;
this->xmlNode->SetValue("name", this->GetName());
@@ -143,7 +143,7 @@
{
//(*siter)->Save();
}
-
+ */
}
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/physics/Geom.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -128,10 +128,10 @@
childNode = childNode->GetNext("visual");
}
- if (this->IsStatic())
+ /*if (this->IsStatic())
{
this->visualNode->MakeStatic();
- }
+ }*/
// Create the bounding box
if (this->geomId && dGeomGetClass(this->geomId) != dPlaneClass)
@@ -161,7 +161,7 @@
// Save the body based on our XMLConfig node
void Geom::Save()
{
- std::vector<OgreVisual*>::iterator iter;
+ /*std::vector<OgreVisual*>::iterator iter;
Pose3d pose= this->GetPose();
this->xmlNode->SetValue("name", this->GetName());
@@ -176,8 +176,7 @@
{
(*iter)->Save();
}
-
-
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/MapGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/MapGeom.cc 2008-07-18 23:57:33 UTC (rev
6890)
+++ code/gazebo/trunk/server/physics/MapGeom.cc 2008-07-21 05:27:12 UTC (rev
6891)
@@ -35,6 +35,7 @@
#include "OgreAdaptor.hh"
#include "Simulator.hh"
#include "OgreAdaptor.hh"
+#include "OgreVisual.hh"
#include "Global.hh"
#include "Body.hh"
#include "MapGeom.hh"
@@ -110,6 +111,8 @@
}
this->CreateBoxes(this->root);
+
+ this->visualNode->MakeStatic();
}
void MapGeom::CreateBoxes(QuadNode *node)
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-07-18 23:57:33 UTC
(rev 6890)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-07-21 05:27:12 UTC
(rev 6891)
@@ -108,7 +108,7 @@
// Save the ODE engine
void ODEPhysics::Save(XMLConfigNode *node)
{
- XMLConfigNode *cnode = node->GetChild("ode");
+ /*XMLConfigNode *cnode = node->GetChild("ode");
if (cnode == NULL)
gzthrow("No <physics:ode> node in the XML, can't write back the data");
@@ -116,6 +116,7 @@
cnode->SetValue("stepTime", this->stepTime);
cnode->SetValue("cfm", this->globalCFM);
cnode->SetValue("erp", this->globalERP);
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-07-18 23:57:33 UTC
(rev 6890)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-07-21 05:27:12 UTC
(rev 6891)
@@ -67,6 +67,8 @@
this->root=NULL;
this->updateRate = 0;
+
+ this->dummyDisplay = false;
}
////////////////////////////////////////////////////////////////////////////////
@@ -269,12 +271,15 @@
this->root->addFrameListener(this->frameListener);
this->updateRate = node->GetDouble("maxUpdateRate",0,0);
+
+ this->raySceneQuery = this->sceneMgr->createRayQuery( Ogre::Ray() );
}
////////////////////////////////////////////////////////////////////////////////
// Save
void OgreAdaptor::Save(XMLConfigNode *node)
{
+ /*
//Video information is not modified so we don't need to rewrite it.
//Sky is not modified, not rewritten
XMLConfigNode *rnode;
@@ -290,7 +295,7 @@
cnode = rnode->GetChild("fog");
if (cnode)
OgreCreator::SaveFog(cnode);
-
+ */
}
@@ -460,6 +465,32 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Get an entity at a pixel location using a camera. Used for mouse picking.
+Entity *OgreAdaptor::GetEntityAt(OgreCamera *camera, int x, int y)
+{
+ /*
+ Ogre::Vector3 camPos = camera->getPosition();
+
+ Ogre::Ray mouseRay = camera->getCameraToViewportRay(
+ x/camera->GetViewportWidth(), y/camera->GetViewportHeight());
+
+ this->raySceneQuery->setRay( mouseRay );
+
+ // Perform the scene query
+ Ogre::RaySceneQueryResult &result = this->raySceneQuery->execute();
+ Ogre::RaySceneQueryResult::iterator iter = result.begin();
+
+ // Get the results, set the camera height
+ if (iter != result.end() && iter->worldFragment)
+ {
+ Ogre::Real terrainHeight = iter->worldFragment->singleIntersection.y;
+ if ((terrainHeight + 10.0f) > camPos.y)
+ camera->setPosition( camPos.x, terrainHeight + 10.0f, camPos.z);
+ }
+ */
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Get the desired update rate
double OgreAdaptor::GetUpdateRate()
{
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2008-07-18 23:57:33 UTC
(rev 6890)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2008-07-21 05:27:12 UTC
(rev 6891)
@@ -51,6 +51,7 @@
class RenderTarget;
class ColourValue;
class RenderSystem;
+ class RaySceneQuery;
}
@@ -94,6 +95,10 @@
/// \brief Update a window
public: void UpdateWindow(Ogre::RenderWindow *window, OgreCamera *camera);
+ /// \brief Get an entity at a pixel location using a camera. Used for
+ /// mouse picking.
+ public: Entity *GetEntityAt(OgreCamera *camera, int x, int y);
+
private: void LoadPlugins();
private: void SetupResources();
private: void SetupRenderSystem(bool create);
@@ -116,6 +121,7 @@
private: std::string videoMode;
+ private: Ogre::RaySceneQuery *raySceneQuery;
//bsp attributes saved to write XML file back
private: int sceneType;
@@ -145,6 +151,7 @@
/// GLX context used to render the scenes.Used for gui-less operation
protected: GLXContext dummyContext;
+
};
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-07-18 23:57:33 UTC
(rev 6890)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-07-21 05:27:12 UTC
(rev 6891)
@@ -258,7 +258,7 @@
////////////////////////////////////////////////////////////////////////////////
void OgreCreator::SaveFog(XMLConfigNode *node)
{
- Ogre::ColourValue color=OgreAdaptor::Instance()->sceneMgr->getFogColour();
+ /*Ogre::ColourValue color=OgreAdaptor::Instance()->sceneMgr->getFogColour();
Ogre::Real start = OgreAdaptor::Instance()->sceneMgr->getFogStart();
Ogre::Real end = OgreAdaptor::Instance()->sceneMgr->getFogEnd();
//Ogre::Real density = OgreAdaptor::Instance()->sceneMgr->getFogDensity();
@@ -286,6 +286,7 @@
node->SetValue("linearEnd", end);
//node->SetValue("density", density);
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-07-18 23:57:33 UTC
(rev 6890)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-07-21 05:27:12 UTC
(rev 6891)
@@ -151,9 +151,10 @@
void OgreVisual::Save()
{
- this->xmlNode->SetValue("xyz", this->GetPosition());
+ /*this->xmlNode->SetValue("xyz", this->GetPosition());
this->xmlNode->SetValue("rpy", this->GetRotation());
//TODO: A lot of information!
+ */
}
Modified: code/gazebo/trunk/worlds/models/bandit.model
===================================================================
--- code/gazebo/trunk/worlds/models/bandit.model 2008-07-18 23:57:33 UTC
(rev 6890)
+++ code/gazebo/trunk/worlds/models/bandit.model 2008-07-21 05:27:12 UTC
(rev 6891)
@@ -67,7 +67,11 @@
<controller:stereocamera name="stereo_camera_controller">
<interface:stereocamera name="bandit_stereo_iface" />
- <interface:camera name="bandit_stereo_camera_iface" />
+ <interface:camera name="bandit_stereo_camera_left_iface" />
+ <interface:camera name="bandit_stereo_camera_right_iface" />
+
+ <leftcamera>bandit_stereo_camera_left_iface</leftcamera>
+ <rightcamera>bandit_stereo_camera_right_iface</rightcamera>
</controller:stereocamera>
</sensor:stereocamera>
</body:box>
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