Revision: 7386
http://playerstage.svn.sourceforge.net/playerstage/?rev=7386&view=rev
Author: natepak
Date: 2009-03-08 05:05:57 +0000 (Sun, 08 Mar 2009)
Log Message:
-----------
Run for a specified time
Modified Paths:
--------------
code/branches/federation/gazebo/server/Global.hh
code/branches/federation/gazebo/server/Model.cc
code/branches/federation/gazebo/server/Model.hh
code/branches/federation/gazebo/server/Simulator.cc
code/branches/federation/gazebo/server/Simulator.hh
code/branches/federation/gazebo/server/World.cc
code/branches/federation/gazebo/server/World.hh
code/branches/federation/gazebo/server/sensors/ir/IRSensor.cc
code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
code/branches/federation/gazebo/worlds/pioneer2dx.world
Modified: code/branches/federation/gazebo/server/Global.hh
===================================================================
--- code/branches/federation/gazebo/server/Global.hh 2009-03-08 04:55:48 UTC
(rev 7385)
+++ code/branches/federation/gazebo/server/Global.hh 2009-03-08 05:05:57 UTC
(rev 7386)
@@ -52,7 +52,7 @@
#define GZ_ALL_COLLIDE 0xFFFFFFFF
#define GZ_NONE_COLLIDE 0x00000000
#define GZ_FIXED_COLLIDE 0x00000001
-#define GZ_LASER_COLLIDE 0x00000002
+#define GZ_SENSOR_COLLIDE 0x00000002
#endif
Modified: code/branches/federation/gazebo/server/Model.cc
===================================================================
--- code/branches/federation/gazebo/server/Model.cc 2009-03-08 04:55:48 UTC
(rev 7385)
+++ code/branches/federation/gazebo/server/Model.cc 2009-03-08 05:05:57 UTC
(rev 7386)
@@ -75,6 +75,9 @@
this->enableFrictionP = new ParamT<bool>("enableFriction", true, 0);
this->enableFrictionP->Callback( &Model::SetFrictionMode, this );
+ this->collideP = new ParamT<std::string>("collide", "all", 0);
+ this->collideP->Callback( &Model::SetCollideMode, this );
+
Param::End();
this->parentBodyNameP = NULL;
@@ -127,6 +130,7 @@
this->rpyP->Load(node);
this->enableGravityP->Load(node);
this->enableFrictionP->Load(node);
+ this->collideP->Load(node);
this->xmlNode = node;
this->type=node->GetName();
@@ -188,6 +192,8 @@
this->SetFrictionMode( **this->enableFrictionP );
+ this->SetCollideMode( **this->collideP );
+
return 0;
// Get the name of the python module
@@ -242,6 +248,7 @@
stream << prefix << " " << *(this->rpyP) << "\n";
stream << prefix << " " << *(this->enableGravityP) << "\n";
stream << prefix << " " << *(this->enableFrictionP) << "\n";
+ stream << prefix << " " << *(this->collideP) << "\n";
if (this->type == "physical")
{
@@ -822,6 +829,22 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the collide mode of the model
+void Model::SetCollideMode( const std::string &m )
+{
+ /*Body *body;
+
+ std::map<std::string, Body* >::iterator iter;
+
+ for (iter=this->bodies.begin(); iter!=this->bodies.end(); iter++)
+ {
+ body = iter->second;
+
+ body->SetFrictionMode( v );
+ }
+ */
+}
+////////////////////////////////////////////////////////////////////////////////
// Load a renderable model (like a light source).
void Model::LoadRenderable(XMLConfigNode *node)
{
Modified: code/branches/federation/gazebo/server/Model.hh
===================================================================
--- code/branches/federation/gazebo/server/Model.hh 2009-03-08 04:55:48 UTC
(rev 7385)
+++ code/branches/federation/gazebo/server/Model.hh 2009-03-08 05:05:57 UTC
(rev 7386)
@@ -161,6 +161,9 @@
/// \brief Set the friction mode of the model
public: void SetFrictionMode( const bool &v );
+ /// \brief Set the collide mode of the model
+ public: void SetCollideMode( const std::string &m );
+
/// \brief Load a body helper function
/// \param node XML Configuration node
private: void LoadBody(XMLConfigNode *node);
@@ -213,6 +216,7 @@
private: ParamT<std::string> *myBodyNameP;
private: ParamT<bool> *enableGravityP;
private: ParamT<bool> *enableFrictionP;
+ private: ParamT<std::string> *collideP;
// Name of a light (if the model is renderable:light)
private: std::string lightName;
Modified: code/branches/federation/gazebo/server/Simulator.cc
===================================================================
--- code/branches/federation/gazebo/server/Simulator.cc 2009-03-08 04:55:48 UTC
(rev 7385)
+++ code/branches/federation/gazebo/server/Simulator.cc 2009-03-08 05:05:57 UTC
(rev 7386)
@@ -290,11 +290,21 @@
this->prevPhysicsTime = this->GetRealTime();
this->prevRenderTime = this->GetRealTime();
-
+
+ this->runLength = 1.0;
+
+ this->lastUpdateTime = this->GetRealTime();
+
while (!this->userQuit)
{
currTime = this->GetRealTime();
+ if (currTime - this->lastUpdateTime > this->runLength)
+ {
+ World::Instance()->ProcessMessages();
+ continue;
+ }
+
if (physicsUpdateRate == 0 ||
currTime - this->prevPhysicsTime >= physicsUpdatePeriod)
{
@@ -316,6 +326,7 @@
this->prevPhysicsTime = this->GetRealTime();
+ std::cout << "Updating at[" << this->GetRealTime() << "]\n";
World::Instance()->Update();
}
@@ -343,6 +354,7 @@
if (this->timeout > 0 && this->GetRealTime() > this->timeout)
break;
+
}
}
@@ -536,3 +548,9 @@
return model;
}
+
+void Simulator::Go()
+{
+ this->lastUpdateTime = this->GetRealTime();
+}
+
Modified: code/branches/federation/gazebo/server/Simulator.hh
===================================================================
--- code/branches/federation/gazebo/server/Simulator.hh 2009-03-08 04:55:48 UTC
(rev 7385)
+++ code/branches/federation/gazebo/server/Simulator.hh 2009-03-08 05:05:57 UTC
(rev 7386)
@@ -159,6 +159,8 @@
/// \brief Get the model that currently selected
public: Model *GetSelectedModel() const;
+ public: void Go();
+
///pointer to the XML Data
private: XMLConfig *xmlFile;
@@ -213,9 +215,16 @@
/// Length of time the simulation should run
private: double timeout;
+ /// Length of time the simulator is allowed to run
+ private: double updateTime;
+
/// The entity currently selected by the user
private: Entity *selectedEntity;
+ /// Length of time to run before receiving a "go" command
+ private: double runLength;
+ private: double lastUpdateTime;
+
//Singleton implementation
private: friend class DestroyerT<Simulator>;
private: friend class SingletonT<Simulator>;
Modified: code/branches/federation/gazebo/server/World.cc
===================================================================
--- code/branches/federation/gazebo/server/World.cc 2009-03-08 04:55:48 UTC
(rev 7385)
+++ code/branches/federation/gazebo/server/World.cc 2009-03-08 05:05:57 UTC
(rev 7386)
@@ -214,28 +214,15 @@
this->physicsEngine->Update();
}
+ return 0;
+}
+
+void World::ProcessMessages()
+{
this->UpdateSimulationIface();
+}
- // Copy the newly created models into the main model vector
- std::copy(this->toAddModels.begin(), this->toAddModels.end(),
- std::back_inserter(this->models));
- this->toAddModels.clear();
-
- // Remove and delete all models that are marked for deletion
- for (miter=this->toDeleteModels.begin();
- miter!=this->toDeleteModels.end(); miter++)
- {
- this->models.erase(
- std::remove(this->models.begin(), this->models.end(), *miter) );
- delete *miter;
- }
-
- this->toDeleteModels.clear();
-
- return 0;
-}
-
////////////////////////////////////////////////////////////////////////////////
// Finilize the world
int World::Fini()
@@ -630,6 +617,8 @@
// Set the model's linear and angular acceleration
model->SetLinearAccel(linearAccel);
model->SetAngularAccel(angularAccel);
+
+ Simulator::Instance()->Go();
}
else
{
@@ -724,5 +713,26 @@
}
this->simIface->Unlock();
+
+
+ std::vector< Model* >::iterator miter;
+
+ // Copy the newly created models into the main model vector
+ std::copy(this->toAddModels.begin(), this->toAddModels.end(),
+ std::back_inserter(this->models));
+ this->toAddModels.clear();
+
+
+ // Remove and delete all models that are marked for deletion
+ for (miter=this->toDeleteModels.begin();
+ miter!=this->toDeleteModels.end(); miter++)
+ {
+ this->models.erase(
+ std::remove(this->models.begin(), this->models.end(), *miter) );
+ delete *miter;
+ }
+
+ this->toDeleteModels.clear();
+
}
Modified: code/branches/federation/gazebo/server/World.hh
===================================================================
--- code/branches/federation/gazebo/server/World.hh 2009-03-08 04:55:48 UTC
(rev 7385)
+++ code/branches/federation/gazebo/server/World.hh 2009-03-08 05:05:57 UTC
(rev 7386)
@@ -140,6 +140,8 @@
/// \brief Get whether to view as wireframe
public: bool GetShowPhysics();
+ public: void ProcessMessages();
+
/// Set to true to show bounding boxes
private: bool showBoundingBoxes;
Modified: code/branches/federation/gazebo/server/sensors/ir/IRSensor.cc
===================================================================
--- code/branches/federation/gazebo/server/sensors/ir/IRSensor.cc
2009-03-08 04:55:48 UTC (rev 7385)
+++ code/branches/federation/gazebo/server/sensors/ir/IRSensor.cc
2009-03-08 05:05:57 UTC (rev 7386)
@@ -126,8 +126,8 @@
this->raySpaceId = dSimpleSpaceCreate( this->superSpaceId );
// Set collision bits
- dGeomSetCategoryBits((dGeomID) this->raySpaceId, GZ_LASER_COLLIDE);
- dGeomSetCollideBits((dGeomID) this->raySpaceId, ~GZ_LASER_COLLIDE);
+ dGeomSetCategoryBits((dGeomID) this->raySpaceId, GZ_SENSOR_COLLIDE);
+ dGeomSetCollideBits((dGeomID) this->raySpaceId, ~GZ_SENSOR_COLLIDE);
//this->body->spaceId = this->superSpaceId;
this->body->spaceId = this->raySpaceId;
Modified: code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
===================================================================
--- code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
2009-03-08 04:55:48 UTC (rev 7385)
+++ code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
2009-03-08 05:05:57 UTC (rev 7386)
@@ -108,8 +108,8 @@
this->raySpaceId = dSimpleSpaceCreate( this->superSpaceId );
// Set collision bits
- dGeomSetCategoryBits((dGeomID) this->raySpaceId, GZ_LASER_COLLIDE);
- dGeomSetCollideBits((dGeomID) this->raySpaceId, ~GZ_LASER_COLLIDE);
+ dGeomSetCategoryBits((dGeomID) this->raySpaceId, GZ_SENSOR_COLLIDE);
+ dGeomSetCollideBits((dGeomID) this->raySpaceId, ~GZ_SENSOR_COLLIDE);
//this->body->spaceId = this->superSpaceId;
this->body->spaceId = this->raySpaceId;
@@ -158,8 +158,6 @@
ray = new RayGeom(this->body, displayRaysP->GetValue());
ray->SetPoints(start, end);
-// ray->SetCategoryBits( GZ_LASER_COLLIDE );
- //ray->SetCollideBits( ~GZ_LASER_COLLIDE );
this->rays.push_back(ray);
Modified: code/branches/federation/gazebo/worlds/pioneer2dx.world
===================================================================
--- code/branches/federation/gazebo/worlds/pioneer2dx.world 2009-03-08
04:55:48 UTC (rev 7385)
+++ code/branches/federation/gazebo/worlds/pioneer2dx.world 2009-03-08
05:05:57 UTC (rev 7386)
@@ -98,6 +98,7 @@
<rpy>0.0 0.0 90.0</rpy>
<enableGravity>false</enableGravity>
<enableFriction>false</enableFriction>
+ <collide>sensors</collide>
<controller:differential_position2d name="controller1">
<leftJoint>left_wheel_hinge</leftJoint>
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, CA
-OSBC tackles the biggest issue in open source: Open Sourcing the Enterprise
-Strategies to boost innovation and cut costs with open source participation
-Receive a $600 discount off the registration fee with the source code: SFAD
http://p.sf.net/sfu/XcvMzF8H
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
