Revision: 7361
http://playerstage.svn.sourceforge.net/playerstage/?rev=7361&view=rev
Author: rtv
Date: 2009-03-03 20:45:37 +0000 (Tue, 03 Mar 2009)
Log Message:
-----------
attempt to fix GL bug in laser code (bug 2642532)
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr.cc
code/stage/trunk/libstage/model_getset.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/stage.cc
code/stage/trunk/libstage/stage.hh
Modified: code/stage/trunk/examples/ctrl/fasr.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr.cc 2009-03-03 18:40:23 UTC (rev
7360)
+++ code/stage/trunk/examples/ctrl/fasr.cc 2009-03-03 20:45:37 UTC (rev
7361)
@@ -368,9 +368,6 @@
printf( "unrecognized mode %u\n", robot->mode );
}
- //if( robot->charger_ahoy )
- //return 1;
- //else
return 0;
}
Modified: code/stage/trunk/libstage/model_getset.cc
===================================================================
--- code/stage/trunk/libstage/model_getset.cc 2009-03-03 18:40:23 UTC (rev
7360)
+++ code/stage/trunk/libstage/model_getset.cc 2009-03-03 20:45:37 UTC (rev
7361)
@@ -180,19 +180,12 @@
if( parent == NULL )
return pose;
- // otherwise
-
+ // otherwise
Pose global_pose = pose_sum( parent->GetGlobalPose(), pose );
// we are on top of our parent
global_pose.z += parent->geom.size.z;
- // PRINT_DEBUG4( "GET GLOBAL POSE [x:%.2f y:%.2f z:%.2f a:%.2f]",
- // global_pose.x,
- // global_pose.y,
- // global_pose.z,
- // global_pose.a );
-
return global_pose;
}
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2009-03-03 18:40:23 UTC (rev
7360)
+++ code/stage/trunk/libstage/model_laser.cc 2009-03-03 20:45:37 UTC (rev
7361)
@@ -105,9 +105,6 @@
// set default color
SetColor( stg_lookup_color(DEFAULT_COLOR));
- if( world->IsGUI() )
- data_dl = glGenLists(1);
-
RegisterOption( &showLaserData );
RegisterOption( &showLaserStrikes );
RegisterOption( &showLaserFov );
@@ -320,6 +317,9 @@
{
data_dirty = false;
+ if( data_dl < 1 )
+ data_dl = glGenLists(1);
+
glNewList( data_dl, GL_COMPILE );
glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at the
right height
Modified: code/stage/trunk/libstage/stage.cc
===================================================================
--- code/stage/trunk/libstage/stage.cc 2009-03-03 18:40:23 UTC (rev 7360)
+++ code/stage/trunk/libstage/stage.cc 2009-03-03 20:45:37 UTC (rev 7361)
@@ -53,18 +53,7 @@
return init_called;
}
-double Stg::normalize( double a )
-{
- assert( ! isnan(a) );
-
- //return( atan2(sin(a), cos(a)));
- // faster than return( atan2(sin(a), cos(a)));
- while( a < -M_PI ) a += (2.0 * M_PI);
- while( a > M_PI ) a -= (2.0 * M_PI);
- return a;
-};
-
void Stg::RegisterModel( stg_model_type_t type,
const char*
name,
stg_creator_t
creator )
@@ -210,21 +199,6 @@
}
-// returns the pose of p2 in p1's coordinate system
-Pose Stg::pose_sum( const Pose& p1, const Pose& p2 )
-{
- double cosa = cos(p1.a);
- double sina = sin(p1.a);
-
- Pose result;
- result.x = p1.x + p2.x * cosa - p2.y * sina;
- result.y = p1.y + p2.x * sina + p2.y * cosa;
- result.z = p1.z + p2.z;
- result.a = normalize(p1.a + p2.a);
-
- return result;
-}
-
// returns the resultant of vector [p1] and [p2]
Pose Stg::pose_scale( const Pose& p1, const double sx, const double sy, const
double sz )
{
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-03-03 18:40:23 UTC (rev 7360)
+++ code/stage/trunk/libstage/stage.hh 2009-03-03 20:45:37 UTC (rev 7361)
@@ -158,7 +158,12 @@
inline double dtor( double d ){ return( d*M_PI/180.0 ); }
/** Normalize an angle to within +/_ M_PI. */
- double normalize( double a );
+ inline double normalize( const double a )
+ {
+ static const double TWO_PI = 2.0 * M_PI;
+ assert( ! isnan(a) );
+ return( fmod(a + M_PI, TWO_PI ) - M_PI);
+ };
/** take binary sign of a, either -1, or 1 if >= 0 */
inline int sgn( int a){ return( a<0 ? -1 : 1); }
@@ -562,8 +567,20 @@
stg_color_t stg_lookup_color(const char *name);
/** returns the sum of [p1] + [p2], in [p1]'s coordinate system */
- Pose pose_sum( const Pose& p1, const Pose& p2 );
-
+ inline Pose pose_sum( const Pose& p1, const Pose& p2 )
+ {
+ double cosa = cos(p1.a);
+ double sina = sin(p1.a);
+
+ Pose result;
+ result.x = p1.x + p2.x * cosa - p2.y * sina;
+ result.y = p1.y + p2.x * sina + p2.y * cosa;
+ result.z = p1.z + p2.z;
+ result.a = normalize(p1.a + p2.a);
+
+ return result;
+ }
+
/** returns a new pose, with each axis scaled */
Pose pose_scale( const Pose& p1, const double x, const double y, const
double z );
@@ -735,66 +752,6 @@
record within a model and called whenever the record is set.*/
typedef int (*stg_model_callback_t)( Model* mod, void* user );
- // class Puck
-// {
-// private:
-// void BuildDisplayList();
-
-// public:
-// stg_color_t color;
-// int displaylist;
-// stg_meters_t height;
-// Pose pose;
-// stg_meters_t radius;
-
-// Puck();
-// void Load( Worldfile* wf, int section );
-// void Save( Worldfile* wf, int section );
-
-// void Draw();
-// };
-
-
- // class EventQueue
-// {
-// private:
-// GTree* future;
-
-// static gint InstantCompare( stg_usec_t a, stg_usec_t b )
-// {
-// if( a < b )
-// return -1;
-
-// if( a > b )
-// return 1;
-
-// return 0; // they are equal
-// }
-
-// public:
-// EventQueue()
-// {
-// future = g_tree_new( InstantCompare );
-// }
-
-// RunInstant() ///< Updates all events due at the next instant
-// {
-// GList* instant_list =
-// }
-
-// QueueModel( Model* mod ) ///< Adds the model to the event queue
-// {
-// g_tree_insert( mod->updatedue, g_list_prepend( g_tree_lookup(
mod->updatedue ), mod ); );
-// }
-
-// DeQueueModel( Model* mod ) ///< removes the model from the event queue
-// {
-// g_tree_insert( mod->updatedue, g_list_remove( g_tree_lookup(
mod->updatedue ), mod ));
-// }
-
-// };
-
-
// ANCESTOR CLASS
/** Base class for Model and World */
class Ancestor
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