Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5949/libstage
Modified Files:
Tag: opengl
canvas.cc model.cc model_laser.cc model_load.cc
model_ranger.cc stage.hh stest.cc world.cc worldfile.cc
worldfile.hh worldgui.cc
Log Message:
vastly improved worldfile loading time. can run 10000 robots no problem.
Index: worldgui.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/worldgui.cc,v
retrieving revision 1.1.2.3
retrieving revision 1.1.2.4
diff -C2 -d -r1.1.2.3 -r1.1.2.4
*** worldgui.cc 22 Nov 2007 01:36:47 -0000 1.1.2.3
--- worldgui.cc 26 Nov 2007 06:28:16 -0000 1.1.2.4
***************
*** 54,58 ****
menubar->item_pathname(picked, sizeof(picked)-1);
! printf("CALLBACK: You picked '%s'\n", picked);
// this is slow and a little ugly, but it's the least hacky approach I think
--- 54,58 ----
menubar->item_pathname(picked, sizeof(picked)-1);
! //printf("CALLBACK: You picked '%s'\n", picked);
// this is slow and a little ugly, but it's the least hacky approach I think
***************
*** 107,117 ****
mbar->add( "Help/About Stage...", FL_CTRL + 'f', (Fl_Callback *)dummy_cb );
mbar->add( "Help/HTML Documentation", FL_CTRL + 'g', (Fl_Callback
*)dummy_cb );
-
-
- // set the checked state appropriately
-
-
show();
! }
StgWorldGui::~StgWorldGui()
--- 107,112 ----
mbar->add( "Help/About Stage...", FL_CTRL + 'f', (Fl_Callback *)dummy_cb );
mbar->add( "Help/HTML Documentation", FL_CTRL + 'g', (Fl_Callback
*)dummy_cb );
show();
! }
StgWorldGui::~StgWorldGui()
***************
*** 138,151 ****
canvas->sphi = wf->ReadTupleFloat( wf_section, "rotate", 1, canvas->sphi );
canvas->scale = wf->ReadFloat(wf_section, "scale", canvas->scale );
! canvas->interval = wf->ReadInt(wf_section, "redraw_interval",
canvas->interval );
! // set the canvas visibilty flags
! // canvas->SetShowFlag( STG_SHOW_GRID, wf->ReadInt(wf_section,
"show_grid" , flags & STG_SHOW_GRID ));
! // canvas->SetShowFlag( STG_SHOW_BLOCKS, wf->ReadInt(wf_section,
"show_blocks", flags & STG_SHOW_BLOCKS ));
! // canvas->SetShowFlag( STG_SHOW_DATA, wf->ReadInt(wf_section,
"show_data", flags & STG_SHOW_DATA ));
! // canvas->SetShowFlag( STG_SHOW_FOLLOW, wf->ReadInt(wf_section,
"show_follow", flags & STG_SHOW_FOLLOW ));
! // canvas->SetShowFlag( STG_SHOW_QUADTREE, wf->ReadInt(wf_section,
"show_tree", flags & STG_SHOW_QUADTREE ));
! // canvas->SetShowFlag( STG_SHOW_OCCUPANCY, wf->ReadInt(wf_section,
"show_occupancy", flags & STG_SHOW_OCCUPANCY ));
!
uint32_t flags = canvas->GetShowFlags();
uint32_t grid = wf->ReadInt(wf_section, "show_grid", flags & STG_SHOW_GRID
) ? STG_SHOW_GRID : 0;
--- 133,139 ----
canvas->sphi = wf->ReadTupleFloat( wf_section, "rotate", 1, canvas->sphi );
canvas->scale = wf->ReadFloat(wf_section, "scale", canvas->scale );
! canvas->interval = wf->ReadInt(wf_section, "interval", canvas->interval );
! // set the canvas visibilty flags
uint32_t flags = canvas->GetShowFlags();
uint32_t grid = wf->ReadInt(wf_section, "show_grid", flags & STG_SHOW_GRID
) ? STG_SHOW_GRID : 0;
***************
*** 156,168 ****
uint32_t clock = wf->ReadInt(wf_section, "show_clock", flags &
STG_SHOW_CLOCK ) ? STG_SHOW_CLOCK : 0;
!
! //canvas->SetShowFlag( STG_SHOW_BLOCKS, wf->ReadInt(wf_section,
"show_blocks", flags & STG_SHOW_BLOCKS ));
! // canvas->SetShowFlag( STG_SHOW_DATA, wf->ReadInt(wf_section,
"show_data", flags & STG_SHOW_DATA ));
! //canvas->SetShowFlag( STG_SHOW_FOLLOW, wf->ReadInt(wf_section,
"show_follow", flags & STG_SHOW_FOLLOW ));
! //canvas->SetShowFlag( STG_SHOW_QUADTREE, wf->ReadInt(wf_section,
"show_tree", flags & STG_SHOW_QUADTREE ));
! //canvas->SetShowFlag( STG_SHOW_OCCUPANCY, wf->ReadInt(wf_section,
"show_occupancy", flags & STG_SHOW_OCCUPANCY ));
!
! flags = grid | data | follow | blocks | quadtree | clock;
! canvas->SetShowFlags( flags );
canvas->invalidate(); // we probably changed something
--- 144,148 ----
uint32_t clock = wf->ReadInt(wf_section, "show_clock", flags &
STG_SHOW_CLOCK ) ? STG_SHOW_CLOCK : 0;
! canvas->SetShowFlags( grid | data | follow | blocks | quadtree | clock );
canvas->invalidate(); // we probably changed something
Index: worldfile.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/worldfile.hh,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** worldfile.hh 4 Oct 2007 01:17:03 -0000 1.1.2.1
--- worldfile.hh 26 Nov 2007 06:28:16 -0000 1.1.2.2
***************
*** 31,34 ****
--- 31,58 ----
#include <stdint.h> // for portable int types eg. uint32_t
#include <stdio.h> // for FILE ops
+ #include <glib.h>
+
+ // Private property class
+ struct CProperty
+ {
+ // Index of entity this property belongs to
+ int entity;
+
+ // Name of property
+ const char *name;
+
+ char* key; // this property's hash table key
+
+ // A list of token indexes
+ int value_count;
+ int *values;
+
+ // Line this property came from
+ int line;
+
+ // Flag set if property has been used
+ bool used;
+ };
+
// Class for loading/saving world file. This class hides the syntax
***************
*** 189,193 ****
// Parse a tuple.
! private: bool ParseTokenTuple(int entity, int property, int *index, int
*line);
// Clear the macro list
--- 213,217 ----
// Parse a tuple.
! private: bool ParseTokenTuple( CProperty* property, int *index, int *line);
// Clear the macro list
***************
*** 232,242 ****
// Add an property
! private: int AddProperty(int entity, const char *name, int line);
!
// Add an property value.
! private: void AddPropertyValue(int property, int index, int value_token);
// Get an property
! public: int GetProperty(int entity, const char *name);
// returns true iff the property exists in the file, so that you can
--- 256,265 ----
// Add an property
! private: CProperty* AddProperty(int entity, const char *name, int line);
// Add an property value.
! private: void AddPropertyValue( CProperty* property, int index, int
value_token);
// Get an property
! public: CProperty* GetProperty(int entity, const char *name);
// returns true iff the property exists in the file, so that you can
***************
*** 245,252 ****
// Set the value of an property.
! private: void SetPropertyValue(int property, int index, const char *value);
// Get the value of an property.
! private: const char *GetPropertyValue(int property, int index);
// Dump the property list for debugging
--- 268,275 ----
// Set the value of an property.
! private: void SetPropertyValue( CProperty* property, int index, const char
*value);
// Get the value of an property.
! private: const char *GetPropertyValue( CProperty* property, int index);
// Dump the property list for debugging
***************
*** 317,345 ****
private: CEntity *entities;
- // Private property class
- private: struct CProperty
- {
- // Index of entity this property belongs to
- int entity;
-
- // Name of property
- const char *name;
-
- // A list of token indexes
- int value_count;
- int *values;
-
- // Line this property came from
- int line;
-
- // Flag set if property has been used
- bool used;
- };
// Property list
! private: int property_size;
private: int property_count;
! private: CProperty *properties;
!
// Name of the file we loaded
public: char *filename;
--- 340,351 ----
private: CEntity *entities;
// Property list
! //private: int property_size;
private: int property_count;
! //private: CProperty *properties;
!
! private: GHashTable* nametable;
!
// Name of the file we loaded
public: char *filename;
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_laser.cc,v
retrieving revision 1.1.2.11
retrieving revision 1.1.2.12
diff -C2 -d -r1.1.2.11 -r1.1.2.12
*** model_laser.cc 19 Nov 2007 07:40:41 -0000 1.1.2.11
--- model_laser.cc 26 Nov 2007 06:28:16 -0000 1.1.2.12
***************
*** 152,156 ****
}
! int laser_raytrace_match( StgBlock* testblock,
StgModel* finder )
{
--- 152,156 ----
}
! bool laser_raytrace_match( StgBlock* testblock,
StgModel* finder )
{
***************
*** 160,166 ****
if( (testblock->mod != finder) &&
(testblock->mod->LaserReturn() > 0 ) )
! return TRUE; // match!
! return FALSE; // no match
//return( (mod != hitmod) && (hitmod->LaserReturn() > 0) );
--- 160,166 ----
if( (testblock->mod != finder) &&
(testblock->mod->LaserReturn() > 0 ) )
! return true; // match!
! return false; // no match
//return( (mod != hitmod) && (hitmod->LaserReturn() > 0) );
***************
*** 321,330 ****
void StgModelLaser::DataVisualize( void )
{
- // rebuild the graphics for this data
- //glNewList( dl_data, GL_COMPILE );
-
if( samples && sample_count )
! {
!
glPushMatrix();
glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at
the right height
--- 321,326 ----
void StgModelLaser::DataVisualize( void )
{
if( samples && sample_count )
! {
glPushMatrix();
glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at
the right height
***************
*** 353,396 ****
glEnd();
}
!
}
PopColor();
!
! glPointSize( 1.0 );
!
glEnableClientState( GL_VERTEX_ARRAY );
glVertexPointer( 2, GL_FLOAT, 0, pts );
! // todo
! //if( world->win->show_alpha )
! {
! glDepthMask( GL_FALSE );
!
! glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
! PushColor( 0, 0, 1, 0.1 );
! glDrawArrays( GL_POLYGON, 0, sample_count+1 );
! PopColor();
! PushColor( 0, 0, 0, 1.0 );
! glDrawArrays( GL_POINTS, 0, sample_count+1 );
! PopColor();
! glDepthMask( GL_TRUE );
! }
! // else
! // {
! // glPolygonMode( GL_FRONT_AND_BACK, GL_LINES );
! // PushColor( 0, 0, 1, 1 );
! // glDrawArrays( GL_POLYGON, 0, sample_count+1 );
! // PopColor();
! // }
!
glPopMatrix();
}
-
- //if( this->debug )
- //glCallList( this->dl_debug_laser );
-
- //glEndList();
}
--- 349,378 ----
glEnd();
}
!
}
PopColor();
!
!
glEnableClientState( GL_VERTEX_ARRAY );
glVertexPointer( 2, GL_FLOAT, 0, pts );
! glDepthMask( GL_FALSE );
! glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
! // draw the filled polygon in transparent blue
! PushColor( 0, 0, 1, 0.1 );
! glDrawArrays( GL_POLYGON, 0, sample_count+1 );
!
! // draw the beam strike points in black
! PushColor( 0, 0, 0, 1.0 );
! glPointSize( 1.0 );
! glDrawArrays( GL_POINTS, 0, sample_count+1 );
! // reset
! PopColor();
! PopColor();
! glDepthMask( GL_TRUE );
glPopMatrix();
}
}
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model.cc,v
retrieving revision 1.1.2.14
retrieving revision 1.1.2.15
diff -C2 -d -r1.1.2.14 -r1.1.2.15
*** model.cc 22 Nov 2007 01:36:47 -0000 1.1.2.14
--- model.cc 26 Nov 2007 06:28:16 -0000 1.1.2.15
***************
*** 160,163 ****
--- 160,165 ----
this->world = world;
+ this->debug = false;
+
// generate a name. This might be overwritten if the "name" property
// is set in the worldfile when StgModel::Load() is called
***************
*** 712,715 ****
--- 714,718 ----
snprintf( buf, 63, "%s [%.2f,%.2f,%.2f]", token, gpose.x, gpose.y,
RTOD(gpose.a) );
+ PushColor( 0,0,0,1 ); // text color black
gl_draw_string( 0.5,0.5,0.5, buf );
***************
*** 718,728 ****
gl_pose_shift( &geom.pose );
! double dx = geom.size.x / 2.0 * 1.3;
! double dy = geom.size.y / 2.0 * 1.3;
!
! //glTranslatef( 0,0,0.1 );
glRectf( -dx, -dy, dx, dy );
glPopMatrix();
}
--- 721,732 ----
gl_pose_shift( &geom.pose );
! double dx = geom.size.x / 2.0 * 1.6;
! double dy = geom.size.y / 2.0 * 1.6;
+ PopColor();
+ PushColor( 1,0,0,0.8 ); // highlight color red
glRectf( -dx, -dy, dx, dy );
+ PopColor();
glPopMatrix();
}
***************
*** 1167,1171 ****
// will just be a few blocks, grippers 3 blocks, etc. not too bad.
! // no blocks? no hit!
if( this->blocks == NULL )
return NULL;
--- 1171,1175 ----
// will just be a few blocks, grippers 3 blocks, etc. not too bad.
! // no blocks, no hit!
if( this->blocks == NULL )
return NULL;
***************
*** 1305,1310 ****
if( hitthing )
{
! // printf( "hit %s at %.2f %.2f\n",
! // hitthing->Token(), hitx, hity );
}
else
--- 1309,1314 ----
if( hitthing )
{
! printf( "hit %s at %.2f %.2f\n",
! hitthing->Token(), hitx, hity );
}
else
Index: stest.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stest.cc,v
retrieving revision 1.1.2.17
retrieving revision 1.1.2.18
diff -C2 -d -r1.1.2.17 -r1.1.2.18
*** stest.cc 22 Nov 2007 01:36:47 -0000 1.1.2.17
--- stest.cc 26 Nov 2007 06:28:16 -0000 1.1.2.18
***************
*** 71,76 ****
char namebuf[256];
! robot_t robots[POPSIZE];
for( int i=0; i<POPSIZE; i++ )
{
--- 71,79 ----
char namebuf[256];
! //robot_t robots[POPSIZE];
+ robot_t* robots = new robot_t[POPSIZE];
+
+
for( int i=0; i<POPSIZE; i++ )
{
***************
*** 80,94 ****
char* base = "r";
! sprintf( namebuf, "%s%02d", base, i );
robots[i].position = (StgModelPosition*)world.GetModel( namebuf );
assert(robots[i].position);
robots[i].position->Subscribe();
! sprintf( namebuf, "%s%02d.laser:0", base, i );
//robots[i].laser = (StgModelLaser*)world.GetModel( namebuf );
//assert(robots[i].laser);
//robots[i].laser->Subscribe();
! sprintf( namebuf, "%s%02d.ranger:0", base, i );
robots[i].ranger = (StgModelRanger*)world.GetModel( namebuf );
assert(robots[i].ranger);
--- 83,97 ----
char* base = "r";
! sprintf( namebuf, "%s%d", base, i );
robots[i].position = (StgModelPosition*)world.GetModel( namebuf );
assert(robots[i].position);
robots[i].position->Subscribe();
! sprintf( namebuf, "%s%d.laser:0", base, i );
//robots[i].laser = (StgModelLaser*)world.GetModel( namebuf );
//assert(robots[i].laser);
//robots[i].laser->Subscribe();
! sprintf( namebuf, "%s%d.ranger:0", base, i );
robots[i].ranger = (StgModelRanger*)world.GetModel( namebuf );
assert(robots[i].ranger);
***************
*** 241,244 ****
--- 244,249 ----
//#endif
+
+ delete[] robots;
exit( 0 );
}
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/world.cc,v
retrieving revision 1.1.2.15
retrieving revision 1.1.2.16
diff -C2 -d -r1.1.2.15 -r1.1.2.16
*** world.cc 19 Nov 2007 07:40:41 -0000 1.1.2.15
--- world.cc 26 Nov 2007 06:28:16 -0000 1.1.2.16
***************
*** 209,213 ****
#ifdef DEBUG
if( hours > 0 )
! snprintf( str, maxlen, "Time: %uh%02um%02u.%03us\t[%.1f]\tsubs: %d %s",
hours, minutes, seconds, msec,
localratio,
--- 209,213 ----
#ifdef DEBUG
if( hours > 0 )
! snprintf( str, maxlen, "Time: %uh%02um%02u.%03us\t[%.6f]\tsubs: %d %s",
hours, minutes, seconds, msec,
localratio,
***************
*** 215,219 ****
paused ? "--PAUSED--" : "" );
else
! snprintf( str, maxlen, "Time: %02um%02u.%03us\t[%.1f]\tsubs: %d %s",
minutes, seconds, msec,
localratio,
--- 215,219 ----
paused ? "--PAUSED--" : "" );
else
! snprintf( str, maxlen, "Time: %02um%02u.%03us\t[%.6f]\tsubs: %d %s",
minutes, seconds, msec,
localratio,
***************
*** 222,231 ****
#else
if( hours > 0 )
! snprintf( str, maxlen, "%uh%02um%02u.%03us\t[%.1f] %s",
hours, minutes, seconds, msec,
localratio,
paused ? "--PAUSED--" : "" );
else
! snprintf( str, maxlen, "%02um%02u.%03us\t[%.1f] %s",
minutes, seconds, msec,
localratio,
--- 222,231 ----
#else
if( hours > 0 )
! snprintf( str, maxlen, "%uh%02um%02u.%03us\t[%.6f] %s",
hours, minutes, seconds, msec,
localratio,
paused ? "--PAUSED--" : "" );
else
! snprintf( str, maxlen, "%02um%02u.%03us\t[%.6f] %s",
minutes, seconds, msec,
localratio,
***************
*** 239,242 ****
--- 239,244 ----
fflush(stdout);
+ stg_usec_t load_start_time = RealTimeNow();
+
this->wf = new CWorldFile();
wf->Load( worldfile_path );
***************
*** 244,248 ****
// end the output line of worldfile components
! puts("");
int entity = 0;
--- 246,250 ----
// end the output line of worldfile components
! //puts("");
int entity = 0;
***************
*** 275,279 ****
//_stg_disable_gui = wf->ReadInt( entity, "gui_disable", _stg_disable_gui );
-
// Iterate through entitys and create client-side models
--- 277,280 ----
***************
*** 318,322 ****
// warn about unused WF linesa
! //wf->WarnUnused();
}
--- 319,328 ----
// warn about unused WF linesa
! wf->WarnUnused();
!
! stg_usec_t load_end_time = RealTimeNow();
!
! printf( "[Load time %.3fsec]\n", (load_end_time - load_start_time) /
1000000.0 );
!
}
***************
*** 380,392 ****
//PRINT_DEBUG( "StgWorld::Update()" );
! // if( interval_real > 0 || updates % 100 == 0 )
! // {
! // char str[64];
! // ClockString( str, 64 );
! // //printf( "Stage timestep: %lu simtime: %lu\n",
! // // updates, sim_time );
! // printf( "\r%s", str );
! // fflush(stdout);
! // }
// update any models that are due to be updated
--- 386,396 ----
//PRINT_DEBUG( "StgWorld::Update()" );
! if( interval_real > 0 || updates % 100 == 0 )
! {
! char str[64];
! ClockString( str, 64 );
! printf( "\r%s", str );
! fflush(stdout);
! }
// update any models that are due to be updated
Index: model_load.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_load.cc,v
retrieving revision 1.1.2.3
retrieving revision 1.1.2.4
diff -C2 -d -r1.1.2.3 -r1.1.2.4
*** model_load.cc 31 Oct 2007 03:55:11 -0000 1.1.2.3
--- model_load.cc 26 Nov 2007 06:28:16 -0000 1.1.2.4
***************
*** 3,6 ****
--- 3,7 ----
#include <libgen.h> // for dirname()
#include <string.h>
+ #include "stage.hh"
//#define DEBUG 1
***************
*** 15,20 ****
if( wf->PropertyExists( this->id, "debug" ) )
! this->debug = wf->ReadInt( this->id, "debug", this->debug );
!
if( wf->PropertyExists( this->id, "name" ) )
{
--- 16,25 ----
if( wf->PropertyExists( this->id, "debug" ) )
! {
! PRINT_WARN2( "debug property specified for model %d %s\n",
! this->id, this->token );
! this->debug = wf->ReadInt( this->id, "debug", this->debug );
! }
!
if( wf->PropertyExists( this->id, "name" ) )
{
***************
*** 38,60 ****
{
stg_geom_t geom;
! this->GetGeom( &geom );
!
geom.pose.x = wf->ReadTupleLength(this->id, "origin", 0, geom.pose.x );
geom.pose.y = wf->ReadTupleLength(this->id, "origin", 1, geom.pose.y );
! geom.pose.z = wf->ReadTupleLength(this->id, "origin", 2, geom.pose.z );
! geom.pose.a = wf->ReadTupleAngle(this->id, "origin", 3, geom.pose.a );
!
this->SetGeom( &geom );
}
if( wf->PropertyExists( this->id, "size" ) )
{
stg_geom_t geom;
! this->GetGeom( &geom );
!
geom.size.x = wf->ReadTupleLength(this->id, "size", 0, geom.size.x );
geom.size.y = wf->ReadTupleLength(this->id, "size", 1, geom.size.y );
! geom.size.z = wf->ReadTupleLength(this->id, "size", 2, geom.size.z );
!
this->SetGeom( &geom );
}
--- 43,80 ----
{
stg_geom_t geom;
! GetGeom( &geom );
geom.pose.x = wf->ReadTupleLength(this->id, "origin", 0, geom.pose.x );
geom.pose.y = wf->ReadTupleLength(this->id, "origin", 1, geom.pose.y );
! geom.pose.a = wf->ReadTupleAngle(this->id, "origin", 2, geom.pose.a );
this->SetGeom( &geom );
}
+ if( wf->PropertyExists( this->id, "origin4" ) )
+ {
+ stg_geom_t geom;
+ GetGeom( &geom );
+ geom.pose.x = wf->ReadTupleLength(this->id, "origin4", 0, geom.pose.x );
+ geom.pose.y = wf->ReadTupleLength(this->id, "origin4", 1, geom.pose.y );
+ geom.pose.z = wf->ReadTupleLength(this->id, "origin4", 2, geom.pose.z );
+ geom.pose.a = wf->ReadTupleAngle(this->id, "origin4", 3, geom.pose.a );
+ this->SetGeom( &geom );
+ }
+
if( wf->PropertyExists( this->id, "size" ) )
{
stg_geom_t geom;
! GetGeom( &geom );
geom.size.x = wf->ReadTupleLength(this->id, "size", 0, geom.size.x );
geom.size.y = wf->ReadTupleLength(this->id, "size", 1, geom.size.y );
! this->SetGeom( &geom );
! }
!
! if( wf->PropertyExists( this->id, "size3" ) )
! {
! stg_geom_t geom;
! GetGeom( &geom );
! geom.size.x = wf->ReadTupleLength(this->id, "size3", 0, geom.size.x );
! geom.size.y = wf->ReadTupleLength(this->id, "size3", 1, geom.size.y );
! geom.size.z = wf->ReadTupleLength(this->id, "size3", 2, geom.size.z );
this->SetGeom( &geom );
}
***************
*** 63,73 ****
{
stg_pose_t pose;
! this->GetPose( &pose );
!
pose.x = wf->ReadTupleLength(this->id, "pose", 0, pose.x );
pose.y = wf->ReadTupleLength(this->id, "pose", 1, pose.y );
! pose.z = wf->ReadTupleLength(this->id, "pose", 2, pose.z );
! pose.a = wf->ReadTupleAngle(this->id, "pose", 3, pose.a );
!
this->SetPose( &pose );
}
--- 83,102 ----
{
stg_pose_t pose;
! GetPose( &pose );
pose.x = wf->ReadTupleLength(this->id, "pose", 0, pose.x );
pose.y = wf->ReadTupleLength(this->id, "pose", 1, pose.y );
! pose.a = wf->ReadTupleAngle(this->id, "pose", 2, pose.a );
! this->SetPose( &pose );
! }
!
! if( wf->PropertyExists( this->id, "pose4" ))
! {
! stg_pose_t pose;
! GetPose( &pose );
! pose.x = wf->ReadTupleLength(this->id, "pose4", 0, pose.x );
! pose.y = wf->ReadTupleLength(this->id, "pose4", 1, pose.y );
! pose.z = wf->ReadTupleLength(this->id, "pose4", 2, pose.z );
! pose.a = wf->ReadTupleAngle( this->id, "pose4", 3, pose.a );
!
this->SetPose( &pose );
}
***************
*** 76,86 ****
{
stg_velocity_t vel;
! this->GetVelocity( &vel );
!
vel.x = wf->ReadTupleLength(this->id, "velocity", 0, vel.x );
vel.y = wf->ReadTupleLength(this->id, "velocity", 1, vel.y );
- vel.z = wf->ReadTupleLength(this->id, "velocity", 2, vel.z );
vel.a = wf->ReadTupleAngle(this->id, "velocity", 3, vel.a );
this->SetVelocity( &vel );
}
--- 105,123 ----
{
stg_velocity_t vel;
! GetVelocity( &vel );
vel.x = wf->ReadTupleLength(this->id, "velocity", 0, vel.x );
vel.y = wf->ReadTupleLength(this->id, "velocity", 1, vel.y );
vel.a = wf->ReadTupleAngle(this->id, "velocity", 3, vel.a );
+ this->SetVelocity( &vel );
+ }
+ if( wf->PropertyExists( this->id, "velocity4" ))
+ {
+ stg_velocity_t vel;
+ GetVelocity( &vel );
+ vel.x = wf->ReadTupleLength(this->id, "velocity4", 0, vel.x );
+ vel.y = wf->ReadTupleLength(this->id, "velocity4", 1, vel.y );
+ vel.z = wf->ReadTupleLength(this->id, "velocity4", 2, vel.z );
+ vel.a = wf->ReadTupleAngle(this->id, "velocity4", 3, vel.a );
this->SetVelocity( &vel );
}
Index: model_ranger.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_ranger.cc,v
retrieving revision 1.1.2.5
retrieving revision 1.1.2.6
diff -C2 -d -r1.1.2.5 -r1.1.2.6
*** model_ranger.cc 22 Nov 2007 01:36:47 -0000 1.1.2.5
--- model_ranger.cc 26 Nov 2007 06:28:16 -0000 1.1.2.6
***************
*** 217,225 ****
}
! int ranger_raytrace_match( StgBlock* block, StgModel* finder )
{
// Ignore myself, my children, and my ancestors.
return( block->mod->RangerReturn() && !block->mod->IsRelated( finder ) );
- //return true;
}
--- 217,224 ----
}
! bool ranger_raytrace_match( StgBlock* block, StgModel* finder )
{
// Ignore myself, my children, and my ancestors.
return( block->mod->RangerReturn() && !block->mod->IsRelated( finder ) );
}
***************
*** 239,286 ****
for( unsigned int t=0; t<sensor_count; t++ )
{
! // get the sensor's pose in global coords
! //stg_pose_t pz;
! //memcpy( &pz, &sensors[t].pose, sizeof(pz) );
! //this->LocalToGlobal( &pz );
!
! double range;
!
! int r;
! for( r=0; r<sensors[t].ray_count; r++ )
! {
! //double angle_per_ray = sensors[t].fov / sensors[t].ray_count;
! //double ray_angle = -sensors[t].fov/2.0 + angle_per_ray * r +
angle_per_ray/2.0;
!
! range = Raytrace( &sensors[t].pose,
! sensors[t].bounds_range.max,
! (stg_block_match_func_t)ranger_raytrace_match,
! this,
! NULL );
!
! // // if the ray hits anything, 'range' will be changed
! // if( stg_first_model_on_ray( pz.x, pz.y, pz.z + 0.01, // TODO: UNHACK
! // pz.a + ray_angle,
! // sensors[t].bounds_range.max,
! // world->matrix,
! // PointToBearingRange,
! // ranger_raytrace_match,
! // this,
! // &hitrange, &hitx, &hity ) )
! // {
! // if( hitrange < range )
! // range = hitrange;
! // }
!
!
! //double a = sensors[t].pose.a + ray_angle;
! //double dx = range * cos(a);//' + range * sin(a);
! //double dy = range * sin(a);// - range * cos(a);
! //glBegin( GL_LINES );
! //glVertex3f( sensors[t].pose.x, sensors[t].pose.y, 0 );
! //glVertex3f( sensors[t].pose.x+dx, sensors[t].pose.y+dy, 0 );
! //glEnd();
! //pop_color();
! }
// low-threshold the range
if( range < sensors[t].bounds_range.min )
--- 238,253 ----
for( unsigned int t=0; t<sensor_count; t++ )
{
! double range = 0;
! // TODO - reinstate multi-ray rangers
! //for( int r=0; r<sensors[t].ray_count; r++ )
! //{
! range = Raytrace( &sensors[t].pose,
! sensors[t].bounds_range.max,
! (stg_block_match_func_t)ranger_raytrace_match,
! this,
! NULL );
! //}
!
// low-threshold the range
if( range < sensors[t].bounds_range.min )
***************
*** 288,303 ****
sensors[t].range = range;
! //sensors[t].error = TODO;
!
!
}
-
- //pop_color();
- //glEndList();
-
- // data graphics will be updated before being drawn onscreen again
- data_dirty = true;
}
/*
int ranger_noise_test( stg_ranger_sample_t* data, size_t count, )
--- 255,263 ----
sensors[t].range = range;
! //sensors[t].error = TODO;
}
}
+ // TODO: configurable ranger noise model
/*
int ranger_noise_test( stg_ranger_sample_t* data, size_t count, )
***************
*** 323,379 ****
}
-
- void render_rangers( stg_ranger_sensor_t* sensors, size_t sensor_count )
- {
- for( unsigned int s=0; s<sensor_count; s++ )
- {
- if( sensors[s].range > 0.0 )
- {
- stg_ranger_sensor_t* rngr = &sensors[s];
-
- // sensor FOV
- double sidelen = sensors[s].range;
- double da = rngr->fov/2.0;
-
- double x1= rngr->pose.x + sidelen*cos(rngr->pose.a - da );
- double y1= rngr->pose.y + sidelen*sin(rngr->pose.a - da );
- double x2= rngr->pose.x + sidelen*cos(rngr->pose.a + da );
- double y2= rngr->pose.y + sidelen*sin(rngr->pose.a + da );
-
- //printf( "%.2f %.2f to %.2f %.2f\n",
- // rngr->pose.x, rngr->pose.y, x1, y1 );
-
- glBegin( GL_POLYGON);
- glVertex3f( rngr->pose.x, rngr->pose.y, 0 );
- glVertex3f( x1, y1, 0 );
- glVertex3f( x2, y2, 0 );
- glEnd();
- }
- }
- }
-
void StgModelRanger::DataVisualize( void )
{
- // recreate the display list for this data
- //glNewList( this->dl_data, GL_COMPILE );
-
if( sensors && sensor_count )
{
! //puts( "ranger graphics" );
glDepthMask( GL_FALSE );
-
- // now get on with rendering the ranger data
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
! // world->win->show_alpha ? GL_FILL :
GL_LINES );
! PushColor( 0, 1, 0, 0.2 ); // transparent pale green
! render_rangers( sensors, sensor_count );
! PopColor();
!
// restore state
glDepthMask( GL_TRUE );
}
-
- //glEndList();
}
--- 283,331 ----
}
void StgModelRanger::DataVisualize( void )
{
if( sensors && sensor_count )
{
! // if all models have the same number of sensors, this is fast
! // as it will probably not use a system call or cause a cache
! // miss
! static float* pts = NULL;
! size_t memsize = 6 * sensor_count * sizeof(float);
! pts = (float*)g_realloc( pts, memsize );
! bzero( pts, memsize );
!
! // calculate a triangle for each non-zero sensor range
! for( unsigned int s=0; s<sensor_count; s++ )
! {
! if( sensors[s].range > 0.0 )
! {
! stg_ranger_sensor_t* rngr = &sensors[s];
!
! // sensor FOV
! double sidelen = sensors[s].range;
! double da = rngr->fov/2.0;
!
! unsigned int index = s*6;
! pts[index+0] = rngr->pose.x;
! pts[index+1] = rngr->pose.y;
! pts[index+2] = rngr->pose.x + sidelen*cos(rngr->pose.a - da );
! pts[index+3] = rngr->pose.y + sidelen*sin(rngr->pose.a - da );
! pts[index+4] = rngr->pose.x + sidelen*cos(rngr->pose.a + da );
! pts[index+5] = rngr->pose.y + sidelen*sin(rngr->pose.a + da );
! }
! }
+ // draw the filled triangles in transparent blue
glDepthMask( GL_FALSE );
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
! PushColor( 0, 1, 0, 0.1 ); // transparent pale green
! glEnableClientState( GL_VERTEX_ARRAY );
! glVertexPointer( 2, GL_FLOAT, 0, pts );
! glDrawArrays( GL_TRIANGLES, 0, 3 * sensor_count );
!
// restore state
glDepthMask( GL_TRUE );
+ PopColor();
}
}
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stage.hh,v
retrieving revision 1.1.2.16
retrieving revision 1.1.2.17
diff -C2 -d -r1.1.2.16 -r1.1.2.17
*** stage.hh 22 Nov 2007 01:36:47 -0000 1.1.2.16
--- stage.hh 26 Nov 2007 06:28:16 -0000 1.1.2.17
***************
*** 695,703 ****
class StgBlock;
! typedef int (*stg_block_match_func_t)(StgBlock* candidate, const void* arg );
!
!
!
!
--- 695,699 ----
class StgBlock;
! typedef bool (*stg_block_match_func_t)(StgBlock* candidate, const void* arg );
***************
*** 1012,1015 ****
--- 1008,1015 ----
bool graphics;
+ virtual void PushColor( stg_color_t col ) { /* do nothing */ };
+ virtual void PushColor( double r, double g, double b, double a ) { /* do
nothing */ };
+ virtual void PopColor(){ /* do nothing */ };
+
stg_usec_t real_time_now;
stg_usec_t RealTimeNow(void);
***************
*** 1186,1193 ****
void Say( char* str );
!
! void UpdateIfDue( void );
! //void UpdateTree( void );
! //void UpdateTreeIfDue( void );
/** configure a model by reading from the current world file */
--- 1186,1190 ----
void Say( char* str );
! void UpdateIfDue( void );
/** configure a model by reading from the current world file */
***************
*** 1197,1207 ****
virtual void Draw( uint32_t flags );
virtual void DrawPicker( void );
- //virtual void DrawBody( void );
- //virtual void DrawData( void );
virtual void DataVisualize( void );
void DrawGrid();
virtual void DrawSelected(void);
- //virtual void InitGraphics(void); // called by a world that supports
- // graphics
virtual void PushColor( stg_color_t col )
--- 1194,1200 ----
***************
*** 1497,1503 ****
StgModel* mod; //< model to which this block belongs
-
- //void AddCell( StgCell* cell );
-
stg_point_int_t* pts_global; //< points defining a polygon in global coords
--- 1490,1493 ----
Index: worldfile.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/worldfile.cc,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** worldfile.cc 4 Oct 2007 01:17:03 -0000 1.1.2.1
--- worldfile.cc 26 Nov 2007 06:28:16 -0000 1.1.2.2
***************
*** 59,62 ****
--- 59,74 ----
+
+ // guint PropertyHash( const CProperty* prop )
+ // {
+ // char key[128];
+ // snprintf( key, 127, "%d%s", prop->entity, prop->name );
+ // prop->key = strdup( key );
+
+ // return g_str_hash( prop->key );
+ // }
+
+
+
///////////////////////////////////////////////////////////////////////////
// Default constructor
***************
*** 78,87 ****
this->property_count = 0;
! this->property_size = 0;
! this->properties = NULL;
// Set defaults units
this->unit_length = 1.0;
this->unit_angle = M_PI / 180;
}
--- 90,101 ----
this->property_count = 0;
! //this->property_size = 0;
! //this->properties = NULL;
// Set defaults units
this->unit_length = 1.0;
this->unit_angle = M_PI / 180;
+
+ this->nametable = g_hash_table_new( g_str_hash, g_str_equal );
}
***************
*** 96,99 ****
--- 110,115 ----
ClearTokens();
+ g_hash_table_destroy( this->nametable );
+
if (this->filename)
free(this->filename);
***************
*** 245,260 ****
bool CWorldFile::WarnUnused()
{
! bool unused = false;
! for (int i = 0; i < this->property_count; i++)
! {
! CProperty *property = this->properties + i;
! if (!property->used)
! {
! unused = true;
! PRINT_WARN3("worldfile %s:%d : property [%s] is defined but not used",
! this->filename, property->line, property->name);
! }
! }
! return unused;
}
--- 261,277 ----
bool CWorldFile::WarnUnused()
{
! // bool unused = false;
! // for (int i = 0; i < this->property_count; i++)
! // {
! // CProperty *property = this->properties + i;
! // if (!property->used)
! // {
! // unused = true;
! // PRINT_WARN3("worldfile %s:%d : property [%s] is defined but not
used",
! // this->filename, property->line, property->name);
! // }
! // }
! // return unused;
! return false;
}
***************
*** 1052,1056 ****
bool CWorldFile::ParseTokenProperty(int entity, int *index, int *line)
{
! int i, property;
int name, value, count;
CToken *token;
--- 1069,1074 ----
bool CWorldFile::ParseTokenProperty(int entity, int *index, int *line)
{
! int i;
! CProperty* property;
int name, value, count;
CToken *token;
***************
*** 1078,1082 ****
case TokenOpenTuple:
property = AddProperty(entity, GetTokenValue(name), *line);
! if (!ParseTokenTuple(entity, property, &i, line))
return false;
*index = i;
--- 1096,1100 ----
case TokenOpenTuple:
property = AddProperty(entity, GetTokenValue(name), *line);
! if (!ParseTokenTuple( property, &i, line))
return false;
*index = i;
***************
*** 1095,1099 ****
///////////////////////////////////////////////////////////////////////////
// Parse a tuple.
! bool CWorldFile::ParseTokenTuple(int entity, int property, int *index, int
*line)
{
int i, count;
--- 1113,1117 ----
///////////////////////////////////////////////////////////////////////////
// Parse a tuple.
! bool CWorldFile::ParseTokenTuple( CProperty* property, int *index, int *line)
{
int i, count;
***************
*** 1279,1282 ****
--- 1297,1306 ----
+ void PrintProp( char* key, CProperty* prop, void* user )
+ {
+ if( prop )
+ printf( "Print key %s prop ent %d name %s\n", key, prop->entity,
prop->name );
+ }
+
///////////////////////////////////////////////////////////////////////////
// Dump the entity list for debugging
***************
*** 1284,1294 ****
{
printf("\n## begin entities\n");
! for (int i = 0; i < this->entity_count; i++)
! {
! CEntity *entity = this->entities + i;
- printf("## [%d][%d]", i, entity->parent);
- printf("[%s]\n", entity->type);
- }
printf("## end entities\n");
}
--- 1308,1314 ----
{
printf("\n## begin entities\n");
!
! g_hash_table_foreach( this->nametable, (GHFunc)PrintProp, NULL );
printf("## end entities\n");
}
***************
*** 1299,1314 ****
void CWorldFile::ClearProperties()
{
- int i;
- CProperty *property;
-
- for (i = 0; i < this->property_count; i++)
- {
- property = this->properties + i;
- free(property->values);
- }
- free(this->properties);
- this->properties = NULL;
- this->property_size = 0;
this->property_count = 0;
}
--- 1319,1327 ----
void CWorldFile::ClearProperties()
{
this->property_count = 0;
+
+ if( this->nametable )
+ g_hash_table_destroy( this->nametable );
+ this->nametable = g_hash_table_new( g_str_hash, g_str_equal );
}
***************
*** 1316,1345 ****
///////////////////////////////////////////////////////////////////////////
// Add an property
! int CWorldFile::AddProperty(int entity, const char *name, int line)
{
! int i;
! CProperty *property;
- // See if this property already exists; if it does, we dont need to
- // add it again.
- for (i = 0; i < this->property_count; i++)
- {
- property = this->properties + i;
- if (property->entity != entity)
- continue;
- if (strcmp(property->name, name) == 0)
- return i;
- }
-
- // Expand property array if necessary.
- if (i >= this->property_size)
- {
- this->property_size += 100;
- this->properties = (CProperty*)
- realloc(this->properties, this->property_size *
sizeof(this->properties[0]));
- }
-
- property = this->properties + i;
- memset(property, 0, sizeof(CProperty));
property->entity = entity;
property->name = name;
--- 1329,1337 ----
///////////////////////////////////////////////////////////////////////////
// Add an property
! CProperty* CWorldFile::AddProperty(int entity, const char *name, int line)
{
! //int i;
! CProperty *property = g_new0( CProperty, 1 );
property->entity = entity;
property->name = name;
***************
*** 1349,1355 ****
property->used = false;
this->property_count++;
! return i;
}
--- 1341,1356 ----
property->used = false;
+ char key[128];
+ snprintf( key, 127, "%d%s", entity, name );
+ property->key = strdup( key );
+
+ // add this property to a hash table keyed by name for fast lookup
+ g_hash_table_insert( nametable, property->key, property );
+
+ //printf( "added key %s for prop %p entity %d name %s\n", key, property,
property->entity, property->name );
+
this->property_count++;
! return property;
}
***************
*** 1357,1391 ****
///////////////////////////////////////////////////////////////////////////
// Add an property value
! void CWorldFile::AddPropertyValue(int property, int index, int value_token)
{
! assert(property >= 0);
! CProperty *pproperty = this->properties + property;
// Expand the array if it's too small
! if (index >= pproperty->value_count)
{
! pproperty->value_count = index + 1;
! pproperty->values = (int*) realloc(pproperty->values,
pproperty->value_count * sizeof(int));
}
// Set the relevant value
! pproperty->values[index] = value_token;
}
///////////////////////////////////////////////////////////////////////////
// Get an property
! int CWorldFile::GetProperty(int entity, const char *name)
{
! // Find first instance of property
! for (int i = 0; i < this->property_count; i++)
! {
! CProperty *property = this->properties + i;
! if (property->entity != entity)
! continue;
! if (strcmp(property->name, name) == 0)
! return i;
! }
! return -1;
}
--- 1358,1397 ----
///////////////////////////////////////////////////////////////////////////
// Add an property value
! void CWorldFile::AddPropertyValue( CProperty* property, int index, int
value_token)
{
! assert(property);
// Expand the array if it's too small
! if (index >= property->value_count)
{
! property->value_count = index + 1;
! property->values = (int*) realloc(property->values, property->value_count
* sizeof(int));
}
// Set the relevant value
! property->values[index] = value_token;
}
+
///////////////////////////////////////////////////////////////////////////
// Get an property
! CProperty* CWorldFile::GetProperty(int entity, const char *name)
{
! char key[128];
! snprintf( key, 127, "%d%s", entity, name );
!
! // printf( "looking up key %s for entity %d name %s\n", key, entity, name
);
!
! // g_hash_table_foreach( this->nametable, (GHFunc)PrintProp, NULL );
!
! CProperty* prop = (CProperty*)g_hash_table_lookup( this->nametable, key );
!
! // if( prop )
! // printf( "found entity %d name %s\n", prop->entity, prop->name );
! // else
! // printf( "key %s not found\n", key );
!
! return prop;
}
***************
*** 1393,1397 ****
bool CWorldFile::PropertyExists( int section, char* token )
{
! return( this->GetProperty( section, token ) > -1 );
}
--- 1399,1403 ----
bool CWorldFile::PropertyExists( int section, char* token )
{
! return( this->GetProperty( section, token ) ? true : false );
}
***************
*** 1399,1412 ****
///////////////////////////////////////////////////////////////////////////
// Set the value of an property
! void CWorldFile::SetPropertyValue(int property, int index, const char *value)
{
! //assert(property >= 0 && property < this->property_count);
! if(property < 0 || property >= this->property_count)
! return;
! CProperty *pproperty = this->properties + property;
! assert(index >= 0 && index < pproperty->value_count);
// Set the relevant value
! SetTokenValue(pproperty->values[index], value);
}
--- 1405,1415 ----
///////////////////////////////////////////////////////////////////////////
// Set the value of an property
! void CWorldFile::SetPropertyValue( CProperty* property, int index, const char
*value)
{
! assert( property );
! assert(index >= 0 && index < property->value_count);
// Set the relevant value
! SetTokenValue( property->values[index], value);
}
***************
*** 1414,1432 ****
///////////////////////////////////////////////////////////////////////////
// Get the value of an property
! const char *CWorldFile::GetPropertyValue(int property, int index)
{
! assert(property >= 0);
! CProperty *pproperty = this->properties + property;
!
! // changed this as the assert prevents us for asking for a value
! // that does not exist in the array - it should fail nicely rather
! // than crashing out -rtv
! //assert(index < pproperty->value_count);
!
! if( !(index < pproperty->value_count) )
! return NULL;
!
! pproperty->used = true;
! return GetTokenValue(pproperty->values[index]);
}
--- 1417,1425 ----
///////////////////////////////////////////////////////////////////////////
// Get the value of an property
! const char *CWorldFile::GetPropertyValue(CProperty* property, int index)
{
! assert(property);
! property->used = true;
! return GetTokenValue(property->values[index]);
}
***************
*** 1437,1452 ****
{
printf("\n## begin properties\n");
! for (int i = 0; i < this->property_count; i++)
! {
! CProperty *property = this->properties + i;
! CEntity *entity = this->entities + property->entity;
! printf("## [%d]", property->entity);
! printf("[%s]", entity->type);
! printf("[%s]", property->name);
! for (int j = 0; j < property->value_count; j++)
! printf("[%s]", GetTokenValue(property->values[j]));
! printf("\n");
! }
printf("## end properties\n");
}
--- 1430,1445 ----
{
printf("\n## begin properties\n");
! // for (int i = 0; i < this->property_count; i++)
! // {
! // CProperty *property = this->properties + i;
! // CEntity *entity = this->entities + property->entity;
! // printf("## [%d]", property->entity);
! // printf("[%s]", entity->type);
! // printf("[%s]", property->name);
! // for (int j = 0; j < property->value_count; j++)
! // printf("[%s]", GetTokenValue(property->values[j]));
! // printf("\n");
! // }
printf("## end properties\n");
}
***************
*** 1457,1462 ****
const char *CWorldFile::ReadString(int entity, const char *name, const char
*value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return GetPropertyValue(property, 0);
--- 1450,1455 ----
const char *CWorldFile::ReadString(int entity, const char *name, const char
*value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL )
return value;
return GetPropertyValue(property, 0);
***************
*** 1468,1473 ****
void CWorldFile::WriteString(int entity, const char *name, const char *value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return;
SetPropertyValue(property, 0, value);
--- 1461,1466 ----
void CWorldFile::WriteString(int entity, const char *name, const char *value)
{
! CProperty* property = GetProperty(entity, name);
! if( property == NULL )
return;
SetPropertyValue(property, 0, value);
***************
*** 1479,1484 ****
int CWorldFile::ReadInt(int entity, const char *name, int value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return atoi(GetPropertyValue(property, 0));
--- 1472,1477 ----
int CWorldFile::ReadInt(int entity, const char *name, int value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL )
return value;
return atoi(GetPropertyValue(property, 0));
***************
*** 1509,1514 ****
double CWorldFile::ReadFloat(int entity, const char *name, double value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return atof(GetPropertyValue(property, 0));
--- 1502,1507 ----
double CWorldFile::ReadFloat(int entity, const char *name, double value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL )
return value;
return atof(GetPropertyValue(property, 0));
***************
*** 1520,1525 ****
double CWorldFile::ReadLength(int entity, const char *name, double value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return atof(GetPropertyValue(property, 0)) * this->unit_length;
--- 1513,1518 ----
double CWorldFile::ReadLength(int entity, const char *name, double value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL )
return value;
return atof(GetPropertyValue(property, 0)) * this->unit_length;
***************
*** 1540,1545 ****
double CWorldFile::ReadAngle(int entity, const char *name, double value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return atof(GetPropertyValue(property, 0)) * this->unit_angle;
--- 1533,1538 ----
double CWorldFile::ReadAngle(int entity, const char *name, double value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL )
return value;
return atof(GetPropertyValue(property, 0)) * this->unit_angle;
***************
*** 1552,1556 ****
{
//return (bool) ReadInt(entity, name, value);
! int property = GetProperty(entity, name);
if (property < 0)
return value;
--- 1545,1549 ----
{
//return (bool) ReadInt(entity, name, value);
! CProperty* property = GetProperty(entity, name);
if (property < 0)
return value;
***************
*** 1572,1580 ****
uint32_t CWorldFile::ReadColor(int entity, const char *name, uint32_t value)
{
! int property;
const char *color;
property = GetProperty(entity, name);
! if (property < 0)
return value;
color = GetPropertyValue(property, 0);
--- 1565,1573 ----
uint32_t CWorldFile::ReadColor(int entity, const char *name, uint32_t value)
{
! CProperty* property;
const char *color;
property = GetProperty(entity, name);
! if (property == NULL )
return value;
color = GetPropertyValue(property, 0);
***************
*** 1594,1599 ****
const char *CWorldFile::ReadFilename(int entity, const char *name, const char
*value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
const char *filename = GetPropertyValue(property, 0);
--- 1587,1592 ----
const char *CWorldFile::ReadFilename(int entity, const char *name, const char
*value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL )
return value;
const char *filename = GetPropertyValue(property, 0);
***************
*** 1643,1648 ****
int index, const char *value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return GetPropertyValue(property, index);
--- 1636,1641 ----
int index, const char *value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL)
return value;
return GetPropertyValue(property, index);
***************
*** 1655,1659 ****
int index, const char *value)
{
! int property = GetProperty(entity, name);
/* TODO
if (property < 0)
--- 1648,1652 ----
int index, const char *value)
{
! CProperty* property = GetProperty(entity, name);
/* TODO
if (property < 0)
***************
*** 1669,1674 ****
int index, double value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return atof(GetPropertyValue(property, index));
--- 1662,1667 ----
int index, double value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL )
return value;
return atof(GetPropertyValue(property, index));
***************
*** 1692,1697 ****
int index, double value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return atof(GetPropertyValue(property, index)) * this->unit_length;
--- 1685,1690 ----
int index, double value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL )
return value;
return atof(GetPropertyValue(property, index)) * this->unit_length;
***************
*** 1715,1720 ****
int index, double value)
{
! int property = GetProperty(entity, name);
! if (property < 0)
return value;
return atof(GetPropertyValue(property, index)) * this->unit_angle;
--- 1708,1713 ----
int index, double value)
{
! CProperty* property = GetProperty(entity, name);
! if (property == NULL)
return value;
return atof(GetPropertyValue(property, index)) * this->unit_angle;
Index: canvas.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/canvas.cc,v
retrieving revision 1.1.2.4
retrieving revision 1.1.2.5
diff -C2 -d -r1.1.2.4 -r1.1.2.5
*** canvas.cc 22 Nov 2007 01:36:47 -0000 1.1.2.4
--- canvas.cc 26 Nov 2007 06:28:16 -0000 1.1.2.5
***************
*** 52,65 ****
showflags = (showflags ^ invertflags);
! printf( "flags %u data %d grid %d blocks %d follow %d clock %d tree %d occ
%d\n",
! showflags,
! showflags & STG_SHOW_DATA,
! showflags & STG_SHOW_GRID,
! showflags & STG_SHOW_BLOCKS,
! showflags & STG_SHOW_FOLLOW,
! showflags & STG_SHOW_CLOCK,
! showflags & STG_SHOW_QUADTREE,
! showflags & STG_SHOW_OCCUPANCY );
!
}
--- 52,64 ----
showflags = (showflags ^ invertflags);
! // printf( "flags %u data %d grid %d blocks %d follow %d clock %d tree %d
occ %d\n",
! // showflags,
! // showflags & STG_SHOW_DATA,
! // showflags & STG_SHOW_GRID,
! // showflags & STG_SHOW_BLOCKS,
! // showflags & STG_SHOW_FOLLOW,
! // showflags & STG_SHOW_CLOCK,
! // showflags & STG_SHOW_QUADTREE,
! // showflags & STG_SHOW_OCCUPANCY );
}
***************
*** 166,175 ****
else
{
scale -= 0.5 * (double)Fl::event_dy();
if( scale < 1 )
scale = 1;
- //if( width
-
invalidate();
}
--- 165,173 ----
else
{
+ //scale -= 0.5 * (double)Fl::event_dy();
scale -= 0.5 * (double)Fl::event_dy();
if( scale < 1 )
scale = 1;
invalidate();
}
***************
*** 332,335 ****
--- 330,335 ----
void StgCanvas::draw()
{
+ // static int centerx = 0, centery = 0;
+
if (!valid())
{
***************
*** 357,386 ****
double pixels_height = h();
glMatrixMode (GL_PROJECTION);
! glLoadIdentity ();
! // map the viewport to pixel units by scaling it the same as the window
glOrtho( -pixels_width/2.0, pixels_width/2.0,
! -pixels_height/2.0, pixels_height/2.0,
! 0, zclip );
!
! glMatrixMode (GL_MODELVIEW);
!
glLoadIdentity ();
-
-
- glTranslatef( -panx,
- -pany,
- -zclip / 2.0 );
-
- glRotatef( RTOD(-stheta), 1,0,0);
-
- //glTranslatef( -panx * cos(sphi) - pany*sin(sphi),
- // panx*sin(sphi) - pany*cos(sphi), 0 );
! glRotatef( RTOD(sphi), 0.0, 0.0, 1.0); // rotate about z - pitch
! // meter scale
! glScalef ( scale, scale, scale ); // zoom
}
--- 357,381 ----
double pixels_height = h();
+ // map the viewport to pixel units by scaling it the same as the window
glMatrixMode (GL_PROJECTION);
! glLoadIdentity ();
!
glOrtho( -pixels_width/2.0, pixels_width/2.0,
! -pixels_height/2.0, pixels_height/2.0,
! -zclip, zclip );
!
! // set the modelview matrix
! glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
! // move the next two lines...
! glScalef( scale, scale, scale );
! glTranslatef( -panx/scale, -pany/scale, 0 );
!
! glRotatef( RTOD(-stheta), fabs(cos(sphi)), 0, 0 );
! glRotatef( RTOD(sphi), 0,0,1 ); // rotate about z - yaw
! // ... to here to get rotation about the center of the window (but
broken panning)
}
***************
*** 404,407 ****
--- 399,403 ----
+ // if following selected, shift the view to above the selected robot
if( (showflags & STG_SHOW_FOLLOW) && last_selection )
{
***************
*** 455,471 ****
glEnable( GL_LINE_SMOOTH );
}
!
! colorstack.Push( 1, 0, 0 );
! glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
! glLineWidth( 4 );
!
! for( GList* it=selected_models; it; it=it->next )
! ((StgModel*)it->data)->DrawSelected();
!
! colorstack.Pop();
!
! glLineWidth( 1 );
!
!
// draw the models
GList* it;
--- 451,458 ----
glEnable( GL_LINE_SMOOTH );
}
!
! for( GList* it=selected_models; it; it=it->next )
! ((StgModel*)it->data)->DrawSelected();
!
// draw the models
GList* it;
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