Revision: 7052
http://playerstage.svn.sourceforge.net/playerstage/?rev=7052&view=rev
Author: natepak
Date: 2008-09-29 18:43:10 +0000 (Mon, 29 Sep 2008)
Log Message:
-----------
Updated to work with ogre 1.6
Modified Paths:
--------------
code/gazebo/trunk/server/rendering/MovableText.cc
code/gazebo/trunk/server/rendering/MovableText.hh
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/SConscript
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
Modified: code/gazebo/trunk/server/rendering/MovableText.cc
===================================================================
--- code/gazebo/trunk/server/rendering/MovableText.cc 2008-09-29 03:01:33 UTC
(rev 7051)
+++ code/gazebo/trunk/server/rendering/MovableText.cc 2008-09-29 18:43:10 UTC
(rev 7052)
@@ -8,7 +8,6 @@
* @update 2007 by independentCreations see [EMAIL PROTECTED]
*/
-
#include "MovableText.hh"
#include <OgreFontManager.h>
@@ -17,6 +16,8 @@
#define POS_TEX_BINDING 0
#define COLOUR_BINDING 1
+using namespace gazebo;
+
////////////////////////////////////////////////////////////////////////////////
// Constructor
MovableText::MovableText()
@@ -685,3 +686,13 @@
queue->addRenderable(this, mRenderQueueID,
OGRE_RENDERABLE_DEFAULT_PRIORITY);
}
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Method to allow a caller to abstractly iterate over the Renderable
instances
+void MovableText::visitRenderables( Ogre::Renderable::Visitor* /*visitor*/,
+ bool /*debug*/)
+{
+ return;
+}
+
+
Modified: code/gazebo/trunk/server/rendering/MovableText.hh
===================================================================
--- code/gazebo/trunk/server/rendering/MovableText.hh 2008-09-29 03:01:33 UTC
(rev 7051)
+++ code/gazebo/trunk/server/rendering/MovableText.hh 2008-09-29 18:43:10 UTC
(rev 7052)
@@ -1,4 +1,3 @@
-
/*
* Gazebo - Outdoor Multi-Robot Simulator
* Copyright (C) 2003
@@ -29,139 +28,150 @@
#define MOVABLETEXT_HH
#include <Ogre.h>
+#include <OgreMovableObject.h>
+#include <OgreRenderable.h>
+#include <OgreUserDefinedObject.h>
#include <string>
-/// \brief Movable text
-class MovableText : public Ogre::MovableObject, public Ogre::Renderable
+namespace gazebo
{
- /// \brief Horizontal alignment
- public: enum HorizAlign {H_LEFT, H_CENTER};
+ /// \brief Movable text
+ class MovableText : public Ogre::MovableObject, public Ogre::Renderable
+ {
+ /// \brief Horizontal alignment
+ public: enum HorizAlign {H_LEFT, H_CENTER};
+
+ /// \brief vertical alignment
+ public: enum VertAlign {V_BELOW, V_ABOVE};
+
+ /// \brief Constructor
+ public: MovableText();
+
+ /// \brief Destructor
+ public: virtual ~MovableText();
+
+ /// \brief Loads text and font info
+ public: void Load(const std::string &name,
+ const Ogre::UTFString &text,
+ const std::string &fontName = "Arial",
+ float charHeight = 1.0,
+ const Ogre::ColourValue &color =
Ogre::ColourValue::White);
+
+ /// \brief Set the font
+ public: void SetFontName(const std::string &font);
+
+ /// \brief Get the font
+ public: const std::string &GetFont() const;
+
+ /// \brief Set the text to display
+ public: void SetText(const Ogre::UTFString & caption);
+
+ /// \brief Get the displayed text
+ public: const Ogre::UTFString & GetText() const;
+
+ /// \brief Set the text color
+ public: void SetColor(const Ogre::ColourValue & color);
+
+ /// \brief Get the text color
+ public: const Ogre::ColourValue & GetColor() const;
+
+ /// \brief Set the height of a character
+ public: void SetCharHeight(float height);
+
+ /// \brief Set the height of a characters
+ public: float GetCharHeight() const;
+
+ /// \brief Set the width of a space
+ public:void SetSpaceWidth(float width);
+
+ /// \brief Get the width of a space
+ public: float GetSpaceWidth() const;
+
+ /// \brief Set the alignment of the text
+ public: void SetTextAlignment(const HorizAlign &hAlign,
+ const VertAlign &vAlign);
+
+ /// \brief Set the baseline height of the text
+ public: void SetBaseline(float height);
+
+ /// \brief Get the baseline height
+ public: float GetBaseline() const;
+
+ /// \brief True=text always is displayed ontop
+ public: void SetShowOnTop(bool show);
+
+ /// \brief True=text is displayed on top
+ public: bool GetShowOnTop() const;
+
+ /// \brief Get the axis aligned bounding box of the text
+ public: Ogre::AxisAlignedBox GetAABB();
+
+ /// \brief Method to allow a caller to abstractly iterate over the
+ // Renderable instances
+ public: virtual void visitRenderables( Ogre::Renderable::Visitor* visitor,
+ bool debug = false );
+
+ /// \brief setup the geometry (from MovableText)
+ protected: void _setupGeometry();
+
+ /// \brief update the color(from MovableText)
+ protected: void _updateColors();
+
+ /// \brief Get the world transform (from MovableObject)
+ protected: void getWorldTransforms(Ogre::Matrix4 *xform) const;
+
+ /// \brief Get the bounding radiu (from MovableObject)
+ protected: float getBoundingRadius() const;
+
+ /// \brief Get the squared view depth (from MovableObject)
+ protected: float getSquaredViewDepth(const Ogre::Camera *cam) const;
+
+ private: std::string fontName;
+ private: Ogre::UTFString text;
+
+ private: Ogre::ColourValue color;
+ private: Ogre::RenderOperation renderOp;
+ private: Ogre::AxisAlignedBox aabb;
+ private: Ogre::LightList lightList;
+
+ private: float charHeight;
+
+ private: bool needUpdate;
+
+ private: float radius;
+
+ private: Ogre::Camera *camera;
+ private: Ogre::RenderWindow *renderWindow;
+ private: float viewportAspectCoef;
+ private: Ogre::Font *font;
+ private: float spaceWidth;
+ private: bool updateColors;
+ private: VertAlign vertAlign;
+ private: HorizAlign horizAlign;
+ private: bool onTop;
+ private: float baseline;
+ private: Ogre::MaterialPtr material;
+ private: Ogre::MaterialPtr backgroundMaterial;
+
+ private: const Ogre::Quaternion &getWorldOrientation(void) const;
+ private: const Ogre::Vector3 &getWorldPosition(void) const;
+ private: const Ogre::AxisAlignedBox &getBoundingBox(void) const;
+
+ private: const Ogre::String &getMovableType() const;
+
+ private: void _notifyCurrentCamera(Ogre::Camera *cam);
+ private: void _updateRenderQueue(Ogre::RenderQueue* queue);
+
+ /// \brief Get the render operation
+ protected: void getRenderOperation(Ogre::RenderOperation &op);
+
+ /// \brief Get the material
+ protected: const Ogre::MaterialPtr &getMaterial(void) const;
+
+ /// \brief Get the lights
+ protected: const Ogre::LightList &getLights(void) const; //{return
mLList;};
+
+ };
+ }
- /// \brief vertical alignment
- public: enum VertAlign {V_BELOW, V_ABOVE};
-
- /// \brief Constructor
- public: MovableText();
-
- /// \brief Destructor
- public: virtual ~MovableText();
-
- /// \brief Loads text and font info
- public: void Load(const std::string &name,
- const Ogre::UTFString &text,
- const std::string &fontName = "Arial",
- float charHeight = 1.0,
- const Ogre::ColourValue &color =
Ogre::ColourValue::White);
-
- /// \brief Set the font
- public: void SetFontName(const std::string &font);
-
- /// \brief Get the font
- public: const std::string &GetFont() const;
-
- /// \brief Set the text to display
- public: void SetText(const Ogre::UTFString & caption);
-
- /// \brief Get the displayed text
- public: const Ogre::UTFString & GetText() const;
-
- /// \brief Set the text color
- public: void SetColor(const Ogre::ColourValue & color);
-
- /// \brief Get the text color
- public: const Ogre::ColourValue & GetColor() const;
-
- /// \brief Set the height of a character
- public: void SetCharHeight(float height);
-
- /// \brief Set the height of a characters
- public: float GetCharHeight() const;
-
- /// \brief Set the width of a space
- public:void SetSpaceWidth(float width);
-
- /// \brief Get the width of a space
- public: float GetSpaceWidth() const;
-
- /// \brief Set the alignment of the text
- public: void SetTextAlignment(const HorizAlign &hAlign,
- const VertAlign &vAlign);
-
- /// \brief Set the baseline height of the text
- public: void SetBaseline(float height);
-
- /// \brief Get the baseline height
- public: float GetBaseline() const;
-
- /// \brief True=text always is displayed ontop
- public: void SetShowOnTop(bool show);
-
- /// \brief True=text is displayed on top
- public: bool GetShowOnTop() const;
-
- /// \brief Get the axis aligned bounding box of the text
- public: Ogre::AxisAlignedBox GetAABB();
-
- /// \brief setup the geometry (from MovableText)
- protected: void _setupGeometry();
-
- /// \brief update the color(from MovableText)
- protected: void _updateColors();
-
- /// \brief Get the world transform (from MovableObject)
- protected: void getWorldTransforms(Ogre::Matrix4 *xform) const;
-
- /// \brief Get the bounding radiu (from MovableObject)
- protected: float getBoundingRadius() const;
-
- /// \brief Get the squared view depth (from MovableObject)
- protected: float getSquaredViewDepth(const Ogre::Camera *cam) const;
-
- private: std::string fontName;
- private: Ogre::UTFString text;
-
- private: Ogre::ColourValue color;
- private: Ogre::RenderOperation renderOp;
- private: Ogre::AxisAlignedBox aabb;
- private: Ogre::LightList lightList;
-
- private: float charHeight;
-
- private: bool needUpdate;
-
- private: float radius;
-
- private: Ogre::Camera *camera;
- private: Ogre::RenderWindow *renderWindow;
- private: float viewportAspectCoef;
- private: Ogre::Font *font;
- private: float spaceWidth;
- private: bool updateColors;
- private: VertAlign vertAlign;
- private: HorizAlign horizAlign;
- private: bool onTop;
- private: float baseline;
- private: Ogre::MaterialPtr material;
- private: Ogre::MaterialPtr backgroundMaterial;
-
- private: const Ogre::Quaternion &getWorldOrientation(void) const;
- private: const Ogre::Vector3 &getWorldPosition(void) const;
- private: const Ogre::AxisAlignedBox &getBoundingBox(void) const;
-
- private: const Ogre::String &getMovableType() const;
-
- private: void _notifyCurrentCamera(Ogre::Camera *cam);
- private: void _updateRenderQueue(Ogre::RenderQueue* queue);
-
- /// \brief Get the render operation
- protected: void getRenderOperation(Ogre::RenderOperation &op);
-
- /// \brief Get the material
- protected: const Ogre::MaterialPtr &getMaterial(void) const;
-
- /// \brief Get the lights
- protected: const Ogre::LightList &getLights(void) const; //{return mLList;};
-
-};
-
#endif
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-09-29 03:01:33 UTC
(rev 7051)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-09-29 18:43:10 UTC
(rev 7052)
@@ -183,13 +183,13 @@
this->camera->setPolygonMode(Ogre::PM_SOLID);
}
- Ogre::Vector3 v = this->sceneNode->getWorldPosition();
+ Ogre::Vector3 v = this->sceneNode->_getDerivedPosition();
this->pose.pos.x = v.x;
this->pose.pos.y = v.y;
this->pose.pos.z = v.z;
- Ogre::Quaternion q = this->pitchNode->getWorldOrientation();
+ Ogre::Quaternion q = this->pitchNode->_getDerivedOrientation();
this->pose.rot.u = q.w;
this->pose.rot.x = q.x;
Modified: code/gazebo/trunk/server/rendering/SConscript
===================================================================
--- code/gazebo/trunk/server/rendering/SConscript 2008-09-29 03:01:33 UTC
(rev 7051)
+++ code/gazebo/trunk/server/rendering/SConscript 2008-09-29 18:43:10 UTC
(rev 7052)
@@ -1,14 +1,15 @@
#Import variable
Import('env sharedObjs headers')
-sources = ['OgreCreator.cc',
+sources = [
+ 'MovableText.cc',
+ 'OgreCreator.cc',
'OgreAdaptor.cc',
'OgreFrameListener.cc',
'OgreDynamicRenderable.cc',
'OgreDynamicLines.cc',
'OgreSimpleShape.cc',
'OgreHUD.cc',
- 'MovableText.cc',
'OgreVisual.cc',
'OgreCamera.cc',
'CameraManager.cc',
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-09-29 03:01:33 UTC (rev 7051)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-09-29 18:43:10 UTC (rev 7052)
@@ -254,8 +254,8 @@
autoParamDataSource.setCurrentViewport(vp);
autoParamDataSource.setCurrentRenderTarget(this->renderTargets[i]);
autoParamDataSource.setCurrentSceneManager(sceneMgr);
- autoParamDataSource.setCurrentCamera(this->GetOgreCamera());
- pass->_updateAutoParamsNoLights(autoParamDataSource);
+ autoParamDataSource.setCurrentCamera(this->GetOgreCamera(), true);
+ pass->_updateAutoParamsNoLights(&autoParamDataSource);
// These two lines don't seem to do anything useful
renderSys->_setProjectionMatrix(this->GetOgreCamera()->getProjectionMatrixRS());
@@ -381,9 +381,9 @@
fprintf( fp, "P6\n# Gazebo\n%d %d\n255\n", this->imageSizeP->GetValue().x,
this->imageSizeP->GetValue().y);
- for (unsigned int i = 0; i<this->imageSizeP->GetValue().x; i++)
+ for (unsigned int i = 0; i< (unsigned int)this->imageSizeP->GetValue().x;
i++)
{
- for (unsigned int j =0; j<this->imageSizeP->GetValue().y; j++)
+ for (unsigned int j =0; j<(unsigned int)this->imageSizeP->GetValue().y;
j++)
{
double f = this->depthBuffer[0][i*this->imageSizeP->GetValue().x+j];
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