Update of /cvsroot/playerstage/code/gazebo/server
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11506
Modified Files:
Tag: ogre
Model.cc OgreAdaptor.cc OgreAdaptor.hh World.cc main.cc
Log Message:
Updates to ogre integration
Index: OgreAdaptor.hh
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/Attic/OgreAdaptor.hh,v
retrieving revision 1.1.2.5
retrieving revision 1.1.2.6
diff -C2 -d -r1.1.2.5 -r1.1.2.6
*** OgreAdaptor.hh 15 Mar 2006 22:45:37 -0000 1.1.2.5
--- OgreAdaptor.hh 11 Aug 2006 00:29:46 -0000 1.1.2.6
***************
*** 52,55 ****
--- 52,58 ----
public: virtual ~OgreAdaptor();
+ // Default initialization. Let OGRE create the window and rendering context
+ public: int Init();
+
/// Initialize Ogre Rendering engine
public: int Init(Display *display, XVisualInfo *visual, Window windowId,
int width, int height);
***************
*** 59,66 ****
private: void SetupResources();
! private: void SetupRenderSystem();
private: void CreateCameras();
private: void CreateViewports();
! private: void CreateScene();
private: void CreateWindow(int width, int height);
--- 62,69 ----
private: void SetupResources();
! private: void SetupRenderSystem(bool create);
private: void CreateCameras();
private: void CreateViewports();
! public: void CreateScene();
private: void CreateWindow(int width, int height);
Index: main.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/main.cc,v
retrieving revision 1.60.2.4
retrieving revision 1.60.2.5
diff -C2 -d -r1.60.2.4 -r1.60.2.5
*** main.cc 14 Apr 2006 20:38:03 -0000 1.60.2.4
--- main.cc 11 Aug 2006 00:29:46 -0000 1.60.2.5
***************
*** 286,290 ****
// Get a display handle
! if (optDisplay)
{
// display = XOpenDisplay(optDisplay);
--- 286,290 ----
// Get a display handle
! /* DELETE if (optDisplay)
{
// display = XOpenDisplay(optDisplay);
***************
*** 296,304 ****
display = NULL;
}
- // Initialize GLUT
- //if (display)
- //glutInit(argc, argv);
-
return 0;
}
--- 296,301 ----
display = NULL;
}
+ */
return 0;
}
Index: World.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/World.cc,v
retrieving revision 1.92.2.6
retrieving revision 1.92.2.7
diff -C2 -d -r1.92.2.6 -r1.92.2.7
*** World.cc 10 Aug 2006 03:53:11 -0000 1.92.2.6
--- World.cc 11 Aug 2006 00:29:46 -0000 1.92.2.7
***************
*** 140,144 ****
this->simSpeed = 1.0;
this->stepTime = 0.020;
! this->gravity = GzVectorSet(0, 0, -9.8);
this->utcOffset = 0;
this->utmZone = GzVectorSet(0, 0, 0);
--- 140,144 ----
this->simSpeed = 1.0;
this->stepTime = 0.020;
! this->gravity = GzVectorSet(0, -9.8, 0);
this->utcOffset = 0;
this->utmZone = GzVectorSet(0, 0, 0);
***************
*** 250,254 ****
{
this->worldFile = worldFile;
!
// Recursively load models
if (this->LoadModel( this->worldFile->GetRootNode(), NULL ) != 0)
--- 250,254 ----
{
this->worldFile = worldFile;
!
// Recursively load models
if (this->LoadModel( this->worldFile->GetRootNode(), NULL ) != 0)
***************
*** 256,264 ****
// Set the gravity
! /*dWorldSetGravity( this->worldId,
this->gravity.x,
this->gravity.y,
this->gravity.z );
- */
Ogre::Plane *plane = new Ogre::Plane();
--- 256,263 ----
// Set the gravity
! dWorldSetGravity( this->worldId,
this->gravity.x,
this->gravity.y,
this->gravity.z );
Ogre::Plane *plane = new Ogre::Plane();
***************
*** 300,304 ****
{
PRINT_MSG1(2, "Model:%s", node->GetName());
!
// Load plugin *before* instantiating the model
pluginName = node->GetString("plugin", NULL, 0);
--- 299,303 ----
{
PRINT_MSG1(2, "Model:%s", node->GetName());
!
// Load plugin *before* instantiating the model
pluginName = node->GetString("plugin", NULL, 0);
***************
*** 362,366 ****
pose.pos = node->GetPosition( "xyz", pose.pos );
pose.rot = node->GetRotation( "rpy", pose.rot );
!
// Set the model's pose (relative to parent)
this->SetModelPose( model, pose );
--- 361,365 ----
pose.pos = node->GetPosition( "xyz", pose.pos );
pose.rot = node->GetRotation( "rpy", pose.rot );
!
// Set the model's pose (relative to parent)
this->SetModelPose( model, pose );
***************
*** 701,705 ****
// Do collision detection; this will add contacts to the contact
// group
! /*TESTING dSpaceCollide( this->spaceId, this, CollisionCallback );
// Update the dynamical model
--- 700,704 ----
// Do collision detection; this will add contacts to the contact
// group
! dSpaceCollide( this->spaceId, this, CollisionCallback );
// Update the dynamical model
***************
*** 720,724 ****
}
}
- */
}
--- 719,722 ----
Index: Model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/Model.cc,v
retrieving revision 1.36.2.3
retrieving revision 1.36.2.4
diff -C2 -d -r1.36.2.3 -r1.36.2.4
*** Model.cc 23 Feb 2006 23:21:18 -0000 1.36.2.3
--- Model.cc 11 Aug 2006 00:29:46 -0000 1.36.2.4
***************
*** 110,119 ****
void Model::MasterUpdate( double step )
{
if (this->logPoses)
this->LogPose();
this->Update(step);
- }
//////////////////////////////////////////////////////////////////////////////
--- 110,125 ----
void Model::MasterUpdate( double step )
{
+ Body *body;
+ int i;
+ GzPose pose;
+
if (this->logPoses)
this->LogPose();
this->Update(step);
+ pose = this->GetPose();
+ this->ogreSceneNode->setPosition(pose.pos.x, pose.pos.y, pose.pos.x);
+ }
//////////////////////////////////////////////////////////////////////////////
***************
*** 313,316 ****
--- 319,323 ----
npose = pose;
+
for (i = 0; i < this->bodyCount; i++)
{
***************
*** 329,332 ****
--- 336,340 ----
// Set the new position and rotation
body->SetPose( mpose );
+
// Reset the object velocity
Index: OgreAdaptor.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/Attic/OgreAdaptor.cc,v
retrieving revision 1.1.2.9
retrieving revision 1.1.2.10
diff -C2 -d -r1.1.2.9 -r1.1.2.10
*** OgreAdaptor.cc 10 Aug 2006 03:53:11 -0000 1.1.2.9
--- OgreAdaptor.cc 11 Aug 2006 00:29:46 -0000 1.1.2.10
***************
*** 5,9 ****
OgreAdaptor::OgreAdaptor()
{
! // Make the root node
this->root = new Ogre::Root();
}
--- 5,9 ----
OgreAdaptor::OgreAdaptor()
{
! // Make the root
this->root = new Ogre::Root();
}
***************
*** 15,18 ****
--- 15,58 ----
}
+ int OgreAdaptor::Init()
+ {
+ printf("SetupResources\n");
+ // Setup the available resources
+ this->SetupResources();
+
+ printf("SetupRenderingSystem\n");
+
+ // Setup the rendering system, and create the context
+ this->SetupRenderSystem(true);
+
+ printf("Root Init\n");
+ // Initialize the root node, and create a window
+ this->window = this->root->initialise(true);
+
+ printf("CreateSceneManager\n");
+ // Get the SceneManager, in this case a generic one
+ this->sceneMgr = this->root->createSceneManager(Ogre::ST_GENERIC);
+
+ printf("CreateCamera\n");
+ this->CreateCameras();
+
+ printf("CreateViewports\n");
+ this->CreateViewports();
+
+ // Set default mipmap level (NB some APIs ignore this)
+ Ogre::TextureManager::getSingleton().setDefaultNumMipmaps( 5 );
+
+ // Load Resources
+ Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
+
+ // Default lighting
+ this->sceneMgr->setAmbientLight(Ogre::ColourValue(0.0f, 0.0f, 0.0f, 1.0f));
+ this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_STENCIL_ADDITIVE );
+
+ printf("Done\n");
+
+ return 0;
+ }
+
int OgreAdaptor::Init(Display *display, XVisualInfo *visual,
Window windowId, int width, int height)
***************
*** 30,38 ****
printf("SetupRenderingSystem\n");
! // Setup the rendering system
! this->SetupRenderSystem();
printf("Root Init\n");
-
// Initialize the root node, and don't create a window
this->window = this->root->initialise(false);
--- 70,77 ----
printf("SetupRenderingSystem\n");
! // Setup the rendering system, and don't create the context
! this->SetupRenderSystem(false);
printf("Root Init\n");
// Initialize the root node, and don't create a window
this->window = this->root->initialise(false);
***************
*** 73,76 ****
--- 112,117 ----
printf("Done\n");
+
+ return 0;
}
***************
*** 101,105 ****
}
! void OgreAdaptor::SetupRenderSystem()
{
// Set parameters of render system (window size, etc.)
--- 142,146 ----
}
! void OgreAdaptor::SetupRenderSystem(bool create)
{
// Set parameters of render system (window size, etc.)
***************
*** 122,126 ****
selectedRenderSystem->setConfigOption("Full Screen","No");
! //selectedRenderSystem->setConfigOption("Video Mode","800 x 600 @ 16-bit
colour");
this->root->setRenderSystem(selectedRenderSystem);
}
--- 163,173 ----
selectedRenderSystem->setConfigOption("Full Screen","No");
! selectedRenderSystem->setConfigOption("FSAA","2");
!
! if (create)
! {
! selectedRenderSystem->setConfigOption("Video Mode","800 x 600 @ 16-bit
colour");
! }
!
this->root->setRenderSystem(selectedRenderSystem);
}
***************
*** 133,137 ****
// Position it
! this->camera->setPosition(Ogre::Vector3(2,20,10));
this->camera->lookAt(Ogre::Vector3(0,0,0));
--- 180,184 ----
// Position it
! this->camera->setPosition(Ogre::Vector3(0,5,5));
this->camera->lookAt(Ogre::Vector3(0,0,0));
***************
*** 144,148 ****
// Create one viewport, entire window
Ogre::Viewport* vp = this->window->addViewport(this->camera);
! vp->setBackgroundColour( Ogre::ColourValue( 0,0,0) );
// Alter the camera aspect ratio to match the viewport
--- 191,195 ----
// Create one viewport, entire window
Ogre::Viewport* vp = this->window->addViewport(this->camera);
! vp->setBackgroundColour( Ogre::ColourValue(0,0,0) );
// Alter the camera aspect ratio to match the viewport
***************
*** 152,155 ****
--- 199,222 ----
void OgreAdaptor::CreateScene()
{
+ // Create the scene
+ Ogre::Entity *ent = this->sceneMgr->createEntity( "Ninja", "ninja.mesh" );
+ ent->setCastShadows(true);
+
this->sceneMgr->getRootSceneNode()->createChildSceneNode()->attachObject(ent);
+
+ Ogre::Plane plane(Ogre::Vector3::UNIT_Y,0);
+ Ogre::MeshManager::getSingleton().createPlane("ground",
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,plane,
+ 1500,1500,20,20,true,1,5,5,Ogre::Vector3::UNIT_Z);
+
+ ent = this->sceneMgr->createEntity( "GroundEntity", "ground");
+
this->sceneMgr->getRootSceneNode()->createChildSceneNode()->attachObject(ent);
+ ent->setMaterialName("Examples/Rockwall");
+ ent->setCastShadows(false);
+
+ Ogre::Light *light = this->sceneMgr->createLight( "Light1" );
+ light->setType( Ogre::Light::LT_POINT );
+ light->setPosition( Ogre::Vector3(0,200,-50) );
+ light->setDiffuseColour( 1.0, 0.0, 0.0 );
+ light->setSpecularColour( 1.0, 0.0, 0.0 );
}
***************
*** 172,177 ****
int OgreAdaptor::Render()
{
! //this->root->renderOneFrame();
! this->root->_updateAllRenderTargets();
return 0;
--- 239,245 ----
int OgreAdaptor::Render()
{
! Ogre::PlatformManager::getSingleton().messagePump(window);
!
! root->renderOneFrame();
return 0;
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