Revision: 7443
http://playerstage.svn.sourceforge.net/playerstage/?rev=7443&view=rev
Author: natepak
Date: 2009-03-10 09:37:04 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
Improved graphics interface
Modified Paths:
--------------
code/branches/federation/gazebo/examples/libgazebo/position/SConstruct
code/branches/federation/gazebo/examples/libgazebo/position/position.cc
code/branches/federation/gazebo/libgazebo/SConscript
code/branches/federation/gazebo/libgazebo/gazebo.h
code/branches/federation/gazebo/server/Entity.cc
code/branches/federation/gazebo/server/Entity.hh
code/branches/federation/gazebo/server/Model.cc
code/branches/federation/gazebo/server/Model.hh
code/branches/federation/gazebo/server/SConscript
code/branches/federation/gazebo/server/Simulator.cc
code/branches/federation/gazebo/server/World.cc
code/branches/federation/gazebo/server/World.hh
code/branches/federation/gazebo/server/controllers/SConscript
code/branches/federation/gazebo/server/controllers/factory/Factory.hh
code/branches/federation/gazebo/server/controllers/position2d/differential/Differential_Position2d.cc
code/branches/federation/gazebo/server/main.cc
code/branches/federation/gazebo/server/physics/Body.cc
code/branches/federation/gazebo/server/physics/Body.hh
code/branches/federation/gazebo/server/physics/ContactParams.cc
code/branches/federation/gazebo/server/physics/ContactParams.hh
code/branches/federation/gazebo/server/physics/Geom.cc
code/branches/federation/gazebo/server/physics/Geom.hh
code/branches/federation/gazebo/server/physics/Joint.cc
code/branches/federation/gazebo/server/physics/ode/ODEPhysics.cc
code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
code/branches/federation/gazebo/server/rendering/OgreCreator.cc
code/branches/federation/gazebo/server/rendering/OgreCreator.hh
code/branches/federation/gazebo/server/rendering/OgreVisual.cc
code/branches/federation/gazebo/server/rendering/OgreVisual.hh
code/branches/federation/gazebo/server/rendering/SConscript
code/branches/federation/gazebo/server/sensors/Sensor.cc
code/branches/federation/gazebo/server/sensors/Sensor.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
Added Paths:
-----------
code/branches/federation/gazebo/examples/libgazebo/graphics3d/
code/branches/federation/gazebo/examples/libgazebo/graphics3d/.graphics3d.cc.swo
code/branches/federation/gazebo/examples/libgazebo/graphics3d/.sconsign.dblite
code/branches/federation/gazebo/examples/libgazebo/graphics3d/SConstruct
code/branches/federation/gazebo/examples/libgazebo/graphics3d/graphics3d.cc
Added:
code/branches/federation/gazebo/examples/libgazebo/graphics3d/.graphics3d.cc.swo
===================================================================
(Binary files differ)
Property changes on:
code/branches/federation/gazebo/examples/libgazebo/graphics3d/.graphics3d.cc.swo
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added:
code/branches/federation/gazebo/examples/libgazebo/graphics3d/.sconsign.dblite
===================================================================
(Binary files differ)
Property changes on:
code/branches/federation/gazebo/examples/libgazebo/graphics3d/.sconsign.dblite
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: code/branches/federation/gazebo/examples/libgazebo/graphics3d/SConstruct
===================================================================
--- code/branches/federation/gazebo/examples/libgazebo/graphics3d/SConstruct
(rev 0)
+++ code/branches/federation/gazebo/examples/libgazebo/graphics3d/SConstruct
2009-03-10 09:37:04 UTC (rev 7443)
@@ -0,0 +1,14 @@
+
+# 3rd party packages
+parseConfigs=['pkg-config --cflags --libs libgazebo']
+
+env = Environment (
+ CC = 'g++',
+ CCFLAGS = Split ('-pthread -pipe -W -Wall -O2'),
+)
+
+# Parse all the pacakge configurations
+for cfg in parseConfigs:
+ env.ParseConfig(cfg)
+
+env.Program('graphics3d','graphics3d.cc')
Added:
code/branches/federation/gazebo/examples/libgazebo/graphics3d/graphics3d.cc
===================================================================
--- code/branches/federation/gazebo/examples/libgazebo/graphics3d/graphics3d.cc
(rev 0)
+++ code/branches/federation/gazebo/examples/libgazebo/graphics3d/graphics3d.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -0,0 +1,110 @@
+#include <string.h>
+#include <string>
+#include <iostream>
+#include <gazebo/gazebo.h>
+
+int main()
+{
+ gazebo::Client *client = new gazebo::Client();
+ gazebo::Graphics3dIface *g3dIface = new gazebo::Graphics3dIface();
+ gazebo::Graphics3dIface *pioneerG3DIface = new gazebo::Graphics3dIface();
+
+ int serverId = 0;
+
+ /// Connect to the libgazebo server
+ try
+ {
+ client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch (std::string e)
+ {
+ std::cout << "Gazebo error: Unable to connect\n" << e << "\n";
+ return -1;
+ }
+
+ /// Open the global graphics Interface
+ try
+ {
+ g3dIface->Open(client, "default");
+ pioneerG3DIface->Open(client,"pioneer2dx_model1");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the graphics3d
interface\n" << e << "\n";
+ return -1;
+ }
+
+ float radius = 0.2;
+ float theta = 0;
+
+ float size = 0.4;
+ float h = 0;
+ int dir = 1;
+ std::string name = "square";
+ int count = 0;
+
+ gazebo::Vec3 spherePos, sphereSize;
+ sphereSize.x = 0.1;
+ sphereSize.y = 0.1;
+ sphereSize.z = 0.1;
+
+ gazebo::Vec3 vec[5];
+ gazebo::Color clr;
+ while (true)
+ {
+ vec[0].x = size;
+ vec[0].y = size;
+ vec[0].z = h;
+
+ vec[1].x = -size;
+ vec[1].y = size;
+ vec[1].z = h;
+
+ vec[2].x = -size;
+ vec[2].y = -size;
+ vec[2].z = h;
+
+ vec[3].x = size;
+ vec[3].y = -size;
+ vec[3].z = h;
+
+ vec[4].x = size;
+ vec[4].y = size;
+ vec[4].z = h;
+
+ clr.r = 1.0;
+ clr.g = 0.0;
+ clr.b = 0.0;
+ clr.a = 1.0;
+
+ spherePos.x = radius * cos(theta);
+ spherePos.y = radius * sin(theta);
+ spherePos.z = 0.8;
+
+ // Draw the bouncing square
+ pioneerG3DIface->DrawSimple(name.c_str(),
+ gazebo::Graphics3dDrawData::LINE_STRIP, vec, 5, clr);
+
+ // Draw the sliding billboard
+ pioneerG3DIface->DrawBillboard("mybillboard", "heartpsg.png",
+ gazebo::Vec3(h,0,0.4), gazebo::Vec2(0.2, 0.2) );
+
+
+ pioneerG3DIface->DrawShape("mysphere",
+ gazebo::Graphics3dDrawData::SPHERE, spherePos, sphereSize, clr);
+
+ h += dir*0.01;
+ if (h >= 0.2 || h < 0)
+ dir *= -1;
+
+ theta += 0.1;
+ usleep(10000);
+ }
+
+
+ g3dIface->Close();
+
+ delete g3dIface;
+ return 0;
+}
+
Modified: code/branches/federation/gazebo/examples/libgazebo/position/SConstruct
===================================================================
--- code/branches/federation/gazebo/examples/libgazebo/position/SConstruct
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/examples/libgazebo/position/SConstruct
2009-03-10 09:37:04 UTC (rev 7443)
@@ -1,7 +1,6 @@
# 3rd party packages
-parseConfigs=['pkg-config --cflags --libs libgazebo',
- 'pkg-config --cflags --libs libgazeboServer']
+parseConfigs=['pkg-config --cflags --libs libgazebo']
env = Environment (
Modified:
code/branches/federation/gazebo/examples/libgazebo/position/position.cc
===================================================================
--- code/branches/federation/gazebo/examples/libgazebo/position/position.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/examples/libgazebo/position/position.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -14,7 +14,7 @@
{
client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
}
- catch (gazebo::GazeboError e)
+ catch (std::string e)
{
std::cout << "Gazebo error: Unable to connect\n" << e << "\n";
return -1;
@@ -25,7 +25,7 @@
{
simIface->Open(client, "default");
}
- catch (gazebo::GazeboError e)
+ catch (std::string e)
{
std::cout << "Gazebo error: Unable to connect to the sim interface\n" << e
<< "\n";
return -1;
Modified: code/branches/federation/gazebo/libgazebo/SConscript
===================================================================
--- code/branches/federation/gazebo/libgazebo/SConscript 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/libgazebo/SConscript 2009-03-10
09:37:04 UTC (rev 7443)
@@ -42,7 +42,7 @@
pkgconfig = env.PkgConfig(target='libgazebo.pc', source=Value(install_prefix))
env.Install(dir=install_prefix+'/lib/pkgconfig', source=pkgconfig)
-sources = Split('Server.cc Client.cc Iface.cc IfaceFactory.cc SimIface.cc')
+sources = Split('Server.cc Client.cc Iface.cc IfaceFactory.cc SimIface.cc
Graphics3dIface.cc')
headers = Split('gazebo.h IfaceFactory.hh')
sharedLib = myEnv.SharedLibrary('gazebo', sources)
Modified: code/branches/federation/gazebo/libgazebo/gazebo.h
===================================================================
--- code/branches/federation/gazebo/libgazebo/gazebo.h 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/libgazebo/gazebo.h 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -59,6 +59,28 @@
/// \addtogroup libgazebo
/// \{
+
+/// \brief Vector 2 class
+class Vec2
+{
+ /// \brief Default Constructor
+ public: Vec2() : x(0), y(0) {}
+
+ /// \brief Constructor
+ public: Vec2(float _x, float _y) : x(_x), y(_y) {}
+
+ /// \brief Copy constructor
+ public: Vec2(const Vec2 &vec) : x(vec.x), y(vec.y) {}
+
+ /// X value
+ public: float x;
+
+ /// Y value
+ public: float y;
+
+};
+
+
/// \brief Vector 3 class
class Vec3
{
@@ -476,7 +498,6 @@
this->Unlock();
{
- //boost::mutex::scoped_lock lock(*this->mutex);
if (this->currentConnection.connected())
this->currentConnection.disconnect();
@@ -778,55 +799,81 @@
/// Maximum number of points that can be drawn
#define GAZEBO_GRAPHICS3D_MAX_POINTS 1024
+#define GAZEBO_GRAPHICS3D_MAX_NAME 128
+#define GAZEBO_GRAPHICS3D_MAX_COMMANDS 128
-/// \brief Graphics3d interface data
-class Graphics3dData
+class Graphics3dDrawData
{
/// Type of drawing to perform
- enum DrawMode {POINTS, LINES, LINE_STRIP, LINE_LOOP, TRIANGLES,
TRIANGLE_STRIP, TRIANGLE_FAN, QUADS, QUAD_STRIP, POLYGON};
+ public: enum DrawMode { POINTS, LINES, LINE_STRIP, TRIANGLES,
TRIANGLE_STRIP,
+ TRIANGLE_FAN, PLANE, SPHERE, CUBE, CYLINDER,
+ BILLBOARD };
/// Drawing mode
- public: DrawMode drawmode;
+ public: DrawMode drawMode;
+ public: char name[GAZEBO_GRAPHICS3D_MAX_NAME];
+
/// Number of vertices
- public: unsigned int point_count;
+ public: unsigned int pointCount;
/// Vertices
public: Vec3 points[GAZEBO_GRAPHICS3D_MAX_POINTS];
/// Drawing color
public: Color color;
+
+ /// Texture to apply to a billboard. Only applicable when
+ // drawMode == BILLBOARD
+ public: char billboardTexture[GAZEBO_GRAPHICS3D_MAX_NAME];
+
+ /// Pose at which to draw a shape
+ public: Pose pose;
+
+ /// Size of the shape
+ public: Vec3 size;
};
+/// \brief Graphics3d interface data
+class Graphics3dData
+{
+ public: Graphics3dDrawData commands[GAZEBO_GRAPHICS3D_MAX_COMMANDS];
+ public: unsigned int cmdCount;
+};
+
+
/// \brief Graphics3d interface
class Graphics3dIface : public Iface
{
/// \brief Constructor
- public: Graphics3dIface():Iface("graphics3d",
sizeof(Graphics3dIface)+sizeof(Graphics3dData)) {}
+ public: Graphics3dIface();
/// \brief Destructor
- public: virtual ~Graphics3dIface() {this->data = NULL;}
+ public: virtual ~Graphics3dIface();
/// \brief Create the interface (used by Gazebo server)
/// \param server Pointer to the server
/// \param id Id of the interface
- public: virtual void Create(Server *server, std::string id)
- {
- Iface::Create(server,id);
- this->data = (Graphics3dData*)this->mMap;
- }
+ public: virtual void Create(Server *server, std::string id);
/// \brief Open an existing interface
/// \param client Pointer to the client
/// \param id Id of the interface
- public: virtual void Open(Client *client, std::string id)
- {
- Iface::Open(client,id);
- this->data = (Graphics3dData*)this->mMap;
- }
+ public: virtual void Open(Client *client, std::string id);
+ /// \brief Draw a simple object, that is defined by a series of points
+ public: void DrawSimple(const char *name, Graphics3dDrawData::DrawMode mode,
+ Vec3 *point, unsigned int numPoints, Color clr );
+ /// \brief Draw a shape
+ public: void DrawShape(const char *name, Graphics3dDrawData::DrawMode mode,
+ Vec3 pos, Vec3 size, Color clr);
+
+ /// \brief Draw a billboard
+ public: void DrawBillboard(const char *name, const char *texture,
+ Vec3 pos, Vec2 size);
+
/// Pointer to the graphics3d data
public: Graphics3dData *data;
};
Modified: code/branches/federation/gazebo/server/Entity.cc
===================================================================
--- code/branches/federation/gazebo/server/Entity.cc 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/Entity.cc 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -29,6 +29,7 @@
#include "GazeboError.hh"
#include "Global.hh"
#include "OgreVisual.hh"
+#include "OgreVisualManager.hh"
#include "World.hh"
#include "PhysicsEngine.hh"
#include "Entity.hh"
@@ -48,15 +49,20 @@
this->selected = false;
+ std::ostringstream visname;
+ visname << "Entity_" << this->GetId() << "_VISUAL";
+
if (this->parent)
{
this->parent->AddChild(this);
- this->visualNode=new OgreVisual(this->parent->GetVisualNode());
+ this->visualNode = OgreVisualManager::Instance()->CreateVisual(
+ visname.str(), this->parent->GetVisualNode(), this);
this->SetStatic(parent->IsStatic());
}
else
{
- this->visualNode = new OgreVisual(NULL);
+ this->visualNode = OgreVisualManager::Instance()->CreateVisual(
+ visname.str(),
NULL, this );
}
// Add this to the phyic's engine
@@ -180,8 +186,30 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the space id
+void Entity::SetSpaceId( dSpaceID spaceid )
+{
+ this->spaceId = spaceid;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Return the space id
+dSpaceID Entity::GetSpaceId() const
+{
+ return this->spaceId;
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Returns true if the entities are the same. Checks only the name
bool Entity::operator==(const Entity &ent) const
{
return ent.GetName() == this->GetName();
}
+
+Pose3d Entity::GetPoseRelative() const
+{
+ if (this->parent)
+ return this->parent->GetPose() - this->GetPose();
+ else
+ return this->GetPose();
+}
Modified: code/branches/federation/gazebo/server/Entity.hh
===================================================================
--- code/branches/federation/gazebo/server/Entity.hh 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/Entity.hh 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -32,6 +32,7 @@
#include <ode/ode.h>
#include "Common.hh"
+#include "Pose3d.hh"
#include "Param.hh"
namespace gazebo
@@ -97,7 +98,17 @@
/// \brief True if the entity is selected by the user
public: bool IsSelected() const;
-
+
+ /// \brief Set the space id
+ public: void SetSpaceId( dSpaceID spaceid );
+
+ /// \brief Return the space id
+ public: dSpaceID GetSpaceId() const;
+
+ /// \brief Get the pose of the entity
+ public: virtual Pose3d GetPose() const = 0;// { return Pose3d(); }
+ public: Pose3d GetPoseRelative() const;
+
/// \brief Returns true if the entities are the same. Checks only the name
public: bool operator==(const Entity &ent) const;
@@ -113,8 +124,8 @@
/// \brief Visual stuff
protected: OgreVisual *visualNode;
- /// \brief ODE Stuff (should be go somewhere else)
- public: dSpaceID spaceId;
+ /// \brief ODE Stuff
+ protected: dSpaceID spaceId;
private: bool selected;
};
Modified: code/branches/federation/gazebo/server/Model.cc
===================================================================
--- code/branches/federation/gazebo/server/Model.cc 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/Model.cc 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -29,6 +29,8 @@
#include <sstream>
#include <iostream>
+#include "OgreVisual.hh"
+#include "GraphicsIfaceHandler.hh"
#include "Global.hh"
#include "GazeboError.hh"
#include "GazeboMessage.hh"
@@ -80,6 +82,7 @@
Param::End();
+ this->graphicsHandler = NULL;
this->parentBodyNameP = NULL;
this->myBodyNameP = NULL;
}
@@ -92,6 +95,9 @@
std::map< std::string, Joint* >::iterator jiter;
std::map< std::string, Controller* >::iterator citer;
+ if (this->graphicsHandler)
+ delete this->graphicsHandler;
+
for (biter=this->bodies.begin(); biter != this->bodies.end(); biter++)
{
GZ_DELETE(biter->second);
@@ -211,6 +217,10 @@
this->SetCollideMode( **this->collideP );
+ // Create the graphics iface handler
+ this->graphicsHandler = new GraphicsIfaceHandler();
+ this->graphicsHandler->Load(this->GetName(), this);
+
return 0;
// Get the name of the python module
@@ -330,6 +340,8 @@
std::map<std::string, Body* >::iterator biter;
std::map<std::string, Controller* >::iterator contIter;
+ this->graphicsHandler->Init();
+
for (biter = this->bodies.begin(); biter!=this->bodies.end(); biter++)
biter->second->Init();
@@ -392,6 +404,12 @@
this->rpyP->SetValue(this->pose.rot);
}
+ if (this->parent)
+ this->visualNode->SetPose(this->GetPose() - this->parent->GetPose());
+ else
+ this->visualNode->SetPose(this->GetPose());
+
+ this->graphicsHandler->Update();
return this->UpdateChild();
}
@@ -413,6 +431,9 @@
biter->second->Fini();
}
+ if (this->graphicsHandler)
+ delete this->graphicsHandler;
+
return this->FiniChild();
}
@@ -509,6 +530,7 @@
childModel->SetPose(newPose);
}
}
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -592,11 +614,12 @@
}
////////////////////////////////////////////////////////////////////////////////
// Get the current pose
-const Pose3d &Model::GetPose() const
+Pose3d Model::GetPose() const
{
return this->pose;
}
+
////////////////////////////////////////////////////////////////////////////////
// Create and return a new body
Body *Model::CreateBody()
@@ -798,13 +821,6 @@
this->joint->SetAxis( Vector3(0,1,0) );
this->joint->SetParam( dParamHiStop, 0);
this->joint->SetParam( dParamLoStop, 0);
-
- /* if (this->spaceId)
- {
- dSpaceDestroy(this->spaceId);
- this->spaceId = parentModel->spaceId;
- }
- */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/server/Model.hh
===================================================================
--- code/branches/federation/gazebo/server/Model.hh 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/Model.hh 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -48,6 +48,7 @@
class Body;
class Controller;
class HingeJoint;
+ class GraphicsIfaceHandler;
/// \addtogroup gazebo_server
/// \brief A model
@@ -122,7 +123,7 @@
public: void SetAngularAccel( const Vector3 &vel );
/// \brief Get the current pose
- public: const Pose3d &GetPose() const;
+ public: virtual Pose3d GetPose() const;
/// \brief Create and return a new body
/// \return Pointer to a new body.
@@ -222,6 +223,8 @@
// Name of a light (if the model is renderable:light)
private: std::string lightName;
+ private: GraphicsIfaceHandler *graphicsHandler;
+
/* private: PyObject *pName;
private: PyObject *pModule;
private: PyObject *pFuncUpdate;
Modified: code/branches/federation/gazebo/server/SConscript
===================================================================
--- code/branches/federation/gazebo/server/SConscript 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/SConscript 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -31,7 +31,8 @@
'Model.cc',
'Simulator.cc',
'Angle.cc',
- 'Param.cc'
+ 'Param.cc',
+ 'GraphicsIfaceHandler.cc'
]
headers.append(
@@ -53,7 +54,8 @@
'#/server/XMLConfig.hh',
'#/server/GazeboConfig.hh',
'#/server/Angle.hh',
- '#/server/Param.hh'
+ '#/server/Param.hh',
+ '#/server/GraphicsIfaceHandler.hh'
] )
#staticObjs.append( env.StaticObject(sources) )
Modified: code/branches/federation/gazebo/server/Simulator.cc
===================================================================
--- code/branches/federation/gazebo/server/Simulator.cc 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/Simulator.cc 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -28,6 +28,7 @@
#include <fstream>
#include <sys/time.h>
+#include "OgreVisualManager.hh"
#include "Body.hh"
#include "Geom.hh"
#include "Model.hh"
@@ -330,6 +331,8 @@
//this->prevRenderTime = this->GetRealTime();
}
+ OgreVisualManager::Instance()->Update();
+
// Update the gui
if (this->gui)
{
Modified: code/branches/federation/gazebo/server/World.cc
===================================================================
--- code/branches/federation/gazebo/server/World.cc 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/World.cc 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -28,6 +28,7 @@
#include <sstream>
#include <fstream>
+#include "GraphicsIfaceHandler.hh"
#include "Global.hh"
#include "GazeboError.hh"
#include "GazeboMessage.hh"
@@ -60,6 +61,7 @@
this->showPhysics = false;
this->physicsEngine = NULL;
this->server = NULL;
+ this->graphics = NULL;
}
////////////////////////////////////////////////////////////////////////////////
@@ -74,7 +76,6 @@
void World::Close()
{
std::vector< Model* >::iterator miter;
-
for (miter = this->models.begin(); miter != this->models.end(); miter++)
{
if (*miter)
@@ -97,13 +98,13 @@
{
gzthrow(e);
}
+
}
////////////////////////////////////////////////////////////////////////////////
// Load the world
void World::Load(XMLConfigNode *rootNode, unsigned int serverId)
{
-
// Create the server object (needs to be done before models initialize)
this->server = new Server();
@@ -116,7 +117,6 @@
gzthrow (err);
}
-
// Create the simulator interface
try
{
@@ -128,6 +128,10 @@
gzthrow(err);
}
+ // Create the graphics iface handler
+ this->graphics = new GraphicsIfaceHandler();
+ this->graphics->Load("default");
+
#ifdef HAVE_OPENAL
// Load OpenAL audio
if (rootNode->GetChild("openal","audio"))
@@ -145,6 +149,7 @@
}*/
this->physicsEngine->Load(rootNode);
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -191,6 +196,8 @@
this->toAddModels.clear();
this->toDeleteModels.clear();
+ this->graphics->Init();
+
return 0;
}
@@ -236,6 +243,8 @@
this->physicsEngine->Update();
}
+ this->graphics->Update();
+
return 0;
}
@@ -251,6 +260,9 @@
{
std::vector< Model* >::iterator miter;
+ if (this->graphics)
+ delete this->graphics;
+
// Finalize the models
for (miter=this->models.begin(); miter!=this->models.end(); miter++)
{
@@ -324,6 +336,7 @@
return -1;
}
+
return 0;
}
@@ -707,7 +720,6 @@
case SimulationRequestData::GO:
{
-
this->simPauseTime = Simulator::Instance()->GetSimTime()
+ req->runTime * 10e-6;
Modified: code/branches/federation/gazebo/server/World.hh
===================================================================
--- code/branches/federation/gazebo/server/World.hh 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/World.hh 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -46,6 +46,7 @@
class Geom;
class PhysicsEngine;
class XMLConfigNode;
+ class GraphicsIfaceHandler;
/// \brief The World
/*
@@ -189,11 +190,11 @@
/// Simulation interface
private: SimulationIface *simIface;
+ private: GraphicsIfaceHandler *graphics;
/// Length of time to run before receiving a "go" command
private: double simPauseTime;
-
private: friend class DestroyerT<World>;
private: friend class SingletonT<World>;
};
Modified: code/branches/federation/gazebo/server/controllers/SConscript
===================================================================
--- code/branches/federation/gazebo/server/controllers/SConscript
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/controllers/SConscript
2009-03-10 09:37:04 UTC (rev 7443)
@@ -3,7 +3,18 @@
env.Append(CPPPATH = '#server/controllers')
-dirs = Split('position2d laser camera factory gripper actarray ptz opaque
bumper imu irarray')
+dirs = ['position2d',
+ 'laser',
+ 'camera',
+ 'factory',
+ 'gripper',
+ 'actarray',
+ 'ptz',
+ 'opaque',
+ 'bumper',
+ 'imu',
+ 'irarray'
+ ]
try:
env["CCFLAGS"].index('-DHAVE_OPENAL')
Modified: code/branches/federation/gazebo/server/controllers/factory/Factory.hh
===================================================================
--- code/branches/federation/gazebo/server/controllers/factory/Factory.hh
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/controllers/factory/Factory.hh
2009-03-10 09:37:04 UTC (rev 7443)
@@ -24,8 +24,8 @@
* Date: 29 July 2007
* SVN: $Id$
*/
-#ifndef FACTORY_POSITION2D_HH
-#define FACTORY_POSITION2D_HH
+#ifndef FACTORY_HH
+#define FACTORY_HH
#include "Controller.hh"
#include "Entity.hh"
Modified:
code/branches/federation/gazebo/server/controllers/position2d/differential/Differential_Position2d.cc
===================================================================
---
code/branches/federation/gazebo/server/controllers/position2d/differential/Differential_Position2d.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++
code/branches/federation/gazebo/server/controllers/position2d/differential/Differential_Position2d.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -197,6 +197,7 @@
this->joints[LEFT]->SetParam( dParamFMax, **(this->torqueP) );
this->joints[RIGHT]->SetParam( dParamFMax, **(this->torqueP) );
+ //printf("Set Speed[%f %f]\n",this->wheelSpeed[LEFT],
this->wheelSpeed[RIGHT]);
}
/*else
{
Modified: code/branches/federation/gazebo/server/main.cc
===================================================================
--- code/branches/federation/gazebo/server/main.cc 2009-03-10 09:07:34 UTC
(rev 7442)
+++ code/branches/federation/gazebo/server/main.cc 2009-03-10 09:37:04 UTC
(rev 7443)
@@ -277,7 +277,7 @@
}
catch (gazebo::GazeboError e)
{
- std::cerr << "Loading Gazebo" << std::endl;
+ std::cerr << "Erro Loading Gazebo" << std::endl;
std::cerr << e << std::endl;
return -1;
}
Modified: code/branches/federation/gazebo/server/physics/Body.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/Body.cc 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/physics/Body.cc 2009-03-10
09:37:04 UTC (rev 7443)
@@ -271,12 +271,12 @@
this->UpdatePose();
- if (!this->IsStatic())
+// if (!this->IsStatic())
{
- // Set the pose of the scene node
- this->visualNode->SetPose(this->pose);
+ this->visualNode->SetPose(this->GetPose() - this->parent->GetPose());
}
+
for (geomIter=this->geoms.begin();
geomIter!=this->geoms.end(); geomIter++)
{
@@ -327,16 +327,17 @@
////////////////////////////////////////////////////////////////////////////////
// Set the pose of the body
-void Body::SetPose(const Pose3d &pose)
+void Body::SetPose(const Pose3d &_pose)
{
- this->pose = pose;
if (this->IsStatic())
{
Pose3d oldPose = this->staticPose;
Pose3d newPose;
- this->staticPose = pose;
+ this->staticPose = _pose;
+ this->pose = this->staticPose;
+
std::map<std::string, Geom*>::iterator iter;
// This loop doesn't work properly when rotating objects
@@ -352,8 +353,9 @@
Pose3d localPose;
// Compute pose of CoM
- localPose = this->comPose + this->pose;
+ localPose = this->comPose + _pose;
+ this->pose = localPose;
this->SetPosition(localPose.pos);
this->SetRotation(localPose.rot);
}
@@ -363,9 +365,10 @@
// Return the pose of the body
Pose3d Body::GetPose() const
{
- if (this->IsStatic())
+ /*if (this->IsStatic())
return this->staticPose;
else
+ */
return this->pose;
}
@@ -386,8 +389,9 @@
if (this->bodyId)
dBodySetPosition(this->bodyId, pos.x, pos.y, pos.z);
+ // NATE
// Set the position of the scene node
- this->visualNode->SetPosition(pos);
+ //this->visualNode->SetPosition(pos);
}
////////////////////////////////////////////////////////////////////////////////
@@ -407,8 +411,9 @@
dBodySetQuaternion(this->bodyId, q);
}
+ // NATE
// Set the orientation of the scene node
- this->visualNode->SetRotation(rot);
+ //this->visualNode->SetRotation(rot);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/server/physics/Body.hh
===================================================================
--- code/branches/federation/gazebo/server/physics/Body.hh 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/physics/Body.hh 2009-03-10
09:37:04 UTC (rev 7443)
@@ -83,7 +83,7 @@
/// \brief Return the pose of the body
/// \return Pose of the body
- public: Pose3d GetPose() const;
+ public: virtual Pose3d GetPose() const;
/// \brief Set the position of the body
/// \param pos Vector position
Modified: code/branches/federation/gazebo/server/physics/ContactParams.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/ContactParams.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/physics/ContactParams.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -45,8 +45,6 @@
this->mu2 = dInfinity;
this->slip1 = 0.1;
this->slip2 = 0.1;
-
- this->enabled = true;
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/server/physics/ContactParams.hh
===================================================================
--- code/branches/federation/gazebo/server/physics/ContactParams.hh
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/physics/ContactParams.hh
2009-03-10 09:37:04 UTC (rev 7443)
@@ -79,8 +79,6 @@
/// \brief soft constraint force mixing
public: double softCfm;
- public: bool enabled;
-
public: boost::signal< void (Geom*, Geom*)> contactSignal;
};
}
Modified: code/branches/federation/gazebo/server/physics/Geom.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/Geom.cc 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/physics/Geom.cc 2009-03-10
09:37:04 UTC (rev 7443)
@@ -26,6 +26,7 @@
#include <sstream>
+#include "OgreVisualManager.hh"
#include "OgreVisual.hh"
#include "Global.hh"
#include "GazeboMessage.hh"
@@ -46,7 +47,7 @@
this->typeName = "unknown";
this->body = body;
- this->spaceId = this->body->spaceId;
+ this->SetSpaceId(this->body->GetSpaceId());
// Create the contact parameters
this->contact = new ContactParams();
@@ -89,11 +90,12 @@
if (this->transId)
dGeomDestroy(this->transId);
- for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
+ /*for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
{
GZ_DELETE (*iter)
}
this->visuals.clear();
+ */
delete this->massP;
delete this->xyzP;
@@ -141,7 +143,12 @@
childNode = node->GetChild("visual");
while (childNode)
{
- OgreVisual *visual = new OgreVisual(this->visualNode, this);
+ std::ostringstream visname;
+ visname << this->GetName() << "_VISUAL_" << this->visuals.size();
+
+ OgreVisual *visual = OgreVisualManager::Instance()->CreateVisual(
+ visname.str(), this->visualNode, this);
+
visual->Load(childNode);
this->visuals.push_back(visual);
childNode = childNode->GetNext("visual");
@@ -161,7 +168,11 @@
Vector3 min(aabb[0], aabb[2], aabb[4]);
Vector3 max(aabb[1], aabb[3], aabb[5]);
- this->bbVisual = new OgreVisual(this->visualNode);
+ std::ostringstream visname;
+ visname << this->GetName() << "_BBVISUAL" ;
+
+ this->bbVisual = OgreVisualManager::Instance()->CreateVisual(
+ visname.str(), this->visualNode);
this->bbVisual->AttachBoundingBox(min,max);
}
@@ -258,8 +269,9 @@
// Update
void Geom::Update()
{
+
+ this->visualNode->SetPose(this->GetPose());
this->UpdateChild();
-
}
////////////////////////////////////////////////////////////////////////////////
@@ -315,7 +327,8 @@
dGeomSetPosition(this->geomId, localPose.pos.x, localPose.pos.y,
localPose.pos.z);
dGeomSetQuaternion(this->geomId, q);
- this->visualNode->SetPose(newPose);
+ // NATE
+ //this->visualNode->SetPose(this->GetPoseRelative());
if (updateCoM)
{
@@ -353,9 +366,11 @@
// Transform into body relative pose
pose += this->body->GetCoMPose();
}
- else
+ /*else
pose = this->body->GetPose();
+ */
+
return pose;
}
@@ -579,9 +594,20 @@
/// Set the friction mode of the geom
void Geom::SetFrictionMode( const bool &v )
{
- this->contact->mu1 = 0;
- this->contact->mu2 = 0;
- this->contact->slip1 = 0;
- this->contact->slip2 = 0;
+ if (v == false)
+ {
+ this->contact->mu1 = 0;
+ this->contact->mu2 = 0;
+ this->contact->slip1 = 0;
+ this->contact->slip2 = 0;
+ }
+ else
+ {
+ this->contact->mu1 = dInfinity;
+ this->contact->mu2 = dInfinity;
+ this->contact->slip1 = 0.1;
+ this->contact->slip2 = 0.1;
+
+ }
}
Modified: code/branches/federation/gazebo/server/physics/Geom.hh
===================================================================
--- code/branches/federation/gazebo/server/physics/Geom.hh 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/physics/Geom.hh 2009-03-10
09:37:04 UTC (rev 7443)
@@ -99,7 +99,7 @@
public: void SetPose(const Pose3d &pose, bool updateCoM=true);
/// \brief Return the pose of the geom
- public: Pose3d GetPose() const;
+ public: virtual Pose3d GetPose() const;
/// \brief Set the position
/// \param pos Vector3 position
@@ -164,7 +164,6 @@
/// Contact parameters
public: ContactParams *contact;
-
/// The body this geom belongs to
protected: Body *body;
@@ -184,7 +183,7 @@
/// mass of the body
protected: dMass bodyMass;
-
+
private: ParamT<int> *laserFiducialIdP;
private: ParamT<float> *laserRetroP;
Modified: code/branches/federation/gazebo/server/physics/Joint.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/Joint.cc 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/physics/Joint.cc 2009-03-10
09:37:04 UTC (rev 7443)
@@ -24,6 +24,7 @@
* CVS: $Id$
*/
#include "OgreVisual.hh"
+#include "OgreVisualManager.hh"
#include "OgreDynamicLines.hh"
#include "Global.hh"
#include "Body.hh"
@@ -115,8 +116,12 @@
this->Attach(body1,body2);
+ std::ostringstream visname;
+ visname << this->GetName() << "_VISUAL";
+
/// Add a renderable for the joint
- this->visual = new OgreVisual(this->model->GetVisualNode());
+ this->visual = OgreVisualManager::Instance()->CreateVisual(
+ visname.str(), this->model->GetVisualNode());
this->visual->AttachMesh("joint_anchor");
this->visual->SetVisible(false);
Modified: code/branches/federation/gazebo/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/ode/ODEPhysics.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/physics/ode/ODEPhysics.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -158,12 +158,11 @@
// Only the top level parent should have a new space
if (entity->GetParent() == NULL)
{
- //entity->spaceId = this->spaceId;
- entity->spaceId = dSimpleSpaceCreate(this->spaceId);
+ entity->SetSpaceId( dSimpleSpaceCreate(this->spaceId) );
}
else
{
- entity->spaceId = entity->GetParent()->spaceId;
+ entity->SetSpaceId( entity->GetParent()->GetSpaceId() ) ;
}
}
Modified: code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/rendering/OgreAdaptor.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -489,9 +489,9 @@
{
OgreVisual *vis =
dynamic_cast<OgreVisual*>(iter->movable->getUserObject());
- if (vis && vis->GetEntity())
+ if (vis && vis->GetOwner())
{
- entity = vis->GetEntity();
+ entity = vis->GetOwner();
entity->GetVisualNode()->ShowSelectionBox(true);
Model *model = NULL;
Modified: code/branches/federation/gazebo/server/rendering/OgreCreator.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCreator.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/rendering/OgreCreator.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -611,3 +611,41 @@
return window;
}
+
+////////////////////////////////////////////////////////////////////////////////
+// Create a material from a color definition
+std::string OgreCreator::CreateMaterial(float r, float g, float b, float a)
+{
+ std::ostringstream matNameStream;
+
+ matNameStream << "Color[" << r << "," << g << "," << b << "," << a << "]";
+
+ if
(!Ogre::MaterialManager::getSingleton().resourceExists(matNameStream.str()))
+ {
+ Ogre::MaterialPtr matPtr = Ogre::MaterialManager::getSingleton().create(
+ matNameStream.str(),"General");
+
+ matPtr->getTechnique(0)->setLightingEnabled(true);
+ matPtr->getTechnique(0)->getPass(0)->setDiffuse(r,g,b,a);
+ matPtr->getTechnique(0)->getPass(0)->setAmbient(r,g,b);
+ matPtr->getTechnique(0)->getPass(0)->setSelfIllumination(r,g,b);
+ // matPtr->setReceiveShadows(false);
+ }
+
+ return matNameStream.str();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Create a material from a texture file
+std::string OgreCreator::CreateMaterialFromTexFile(const std::string &filename)
+{
+ if (!Ogre::MaterialManager::getSingleton().resourceExists(filename))
+ {
+ Ogre::MaterialPtr matPtr = Ogre::MaterialManager::getSingleton().create(
+ filename, "General");
+ matPtr->setLightingEnabled(true);
+ matPtr->getTechnique(0)->getPass(0)->createTextureUnitState(filename);
+ }
+
+ return filename;
+}
Modified: code/branches/federation/gazebo/server/rendering/OgreCreator.hh
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCreator.hh
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/rendering/OgreCreator.hh
2009-03-10 09:37:04 UTC (rev 7443)
@@ -116,6 +116,14 @@
/// \brief Remove a mesh by name
public: static void RemoveMesh(const std::string &name);
+ /// \brief Create a material from a color definition
+ /// \return The name of the material
+ public: static std::string CreateMaterial(float r, float g,
+ float b, float a);
+
+ /// \brief Create a material from a texture file
+ public: static std::string CreateMaterialFromTexFile(const std::string
&filename);
+
private: static unsigned int lightCounter;
private: static unsigned int windowCounter;
Modified: code/branches/federation/gazebo/server/rendering/OgreVisual.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreVisual.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/rendering/OgreVisual.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -39,7 +39,7 @@
////////////////////////////////////////////////////////////////////////////////
// Constructor
-OgreVisual::OgreVisual(OgreVisual *node, Entity *owner)
+OgreVisual::OgreVisual(OgreVisual *node, Entity *_owner)
: Common()
{
std::ostringstream stream;
@@ -58,7 +58,7 @@
// Create the scene node
this->sceneNode = this->parentNode->createChildSceneNode( stream.str() );
- this->entity = owner;
+ this->owner = _owner;
Param::Begin(&this->parameters);
this->xyzP = new ParamT<Vector3>("xyz", Vector3(0,0,0), 0);
@@ -239,6 +239,27 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Detach all objects
+void OgreVisual::DetachObjects()
+{
+ this->sceneNode->detachAllObjects();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the number of attached objects
+unsigned short OgreVisual::GetNumAttached()
+{
+ return this->sceneNode->numAttachedObjects();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get an attached object
+Ogre::MovableObject *OgreVisual::GetAttached(unsigned short num)
+{
+ return this->sceneNode->getAttachedObject(num);
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Attach a static object
void OgreVisual::MakeStatic()
{
@@ -360,6 +381,9 @@
}
}
+
+
+
////////////////////////////////////////////////////////////////////////////////
/// Set the transparency
void OgreVisual::SetTransparency( float trans )
@@ -595,9 +619,9 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the entity that manages this visual
-Entity *OgreVisual::GetEntity() const
+Entity *OgreVisual::GetOwner() const
{
- return this->entity;
+ return this->owner;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/server/rendering/OgreVisual.hh
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreVisual.hh
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/rendering/OgreVisual.hh
2009-03-10 09:37:04 UTC (rev 7443)
@@ -57,6 +57,15 @@
/// \brief Attach a renerable object to the visual
public: void AttachObject( Ogre::MovableObject *obj);
+ /// \brief Detach all objects
+ public: void DetachObjects();
+
+ /// \brief Get the number of attached objects
+ public: unsigned short GetNumAttached();
+
+ /// \brief Get an attached object
+ public: Ogre::MovableObject *GetAttached(unsigned short num);
+
/// \brief Attach a mesh to this visual by name
public: void AttachMesh( const std::string &meshName );
@@ -118,7 +127,7 @@
public: void MakeStatic();
/// \brief Get the entity that manages this visual
- public: Entity *GetEntity() const;
+ public: Entity *GetOwner() const;
/// \brief Set to true to show a white bounding box, used to indicate
// user selection
@@ -138,7 +147,7 @@
private: static unsigned int visualCounter;
- private: Entity *entity;
+ private: Entity *owner;
private: ParamT<Vector3> *xyzP;
private: ParamT<Quatern> *rpyP;
Modified: code/branches/federation/gazebo/server/rendering/SConscript
===================================================================
--- code/branches/federation/gazebo/server/rendering/SConscript 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/rendering/SConscript 2009-03-10
09:37:04 UTC (rev 7443)
@@ -13,6 +13,7 @@
'OgreSimpleShape.cc',
'OgreHUD.cc',
'OgreVisual.cc',
+ 'OgreVisualManager.cc',
'OgreCamera.cc',
'CameraManager.cc',
'UserCamera.cc'
@@ -28,6 +29,7 @@
'#/server/rendering/OgreHUD.hh',
'#/server/rendering/OgreSimpleShape.hh',
'#/server/rendering/OgreVisual.hh',
+ '#/server/rendering/OgreVisualManager.hh',
'#/server/rendering/OgreCamera.hh',
'#/server/rendering/CameraManager.hh',
'#/server/rendering/UserCamera.hh'
Modified: code/branches/federation/gazebo/server/sensors/Sensor.cc
===================================================================
--- code/branches/federation/gazebo/server/sensors/Sensor.cc 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/sensors/Sensor.cc 2009-03-10
09:37:04 UTC (rev 7443)
@@ -190,7 +190,7 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the current pose
-const Pose3d Sensor::GetPose() const
+Pose3d Sensor::GetPose() const
{
return this->body->GetPose();
}
Modified: code/branches/federation/gazebo/server/sensors/Sensor.hh
===================================================================
--- code/branches/federation/gazebo/server/sensors/Sensor.hh 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/sensors/Sensor.hh 2009-03-10
09:37:04 UTC (rev 7443)
@@ -70,7 +70,7 @@
public: void Fini();
/// \brief Get the current pose
- public: const Pose3d GetPose() const;
+ public: virtual Pose3d GetPose() const;
/// \brief Set whether the sensor is active or not
public: void SetActive(bool value);
Modified: code/branches/federation/gazebo/server/sensors/ir/IRSensor.cc
===================================================================
--- code/branches/federation/gazebo/server/sensors/ir/IRSensor.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/sensors/ir/IRSensor.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -129,9 +129,7 @@
dGeomSetCategoryBits((dGeomID) this->raySpaceId, GZ_SENSOR_COLLIDE);
dGeomSetCollideBits((dGeomID) this->raySpaceId, ~GZ_SENSOR_COLLIDE);
- //this->body->spaceId = this->superSpaceId;
- this->body->spaceId = this->raySpaceId;
-
+ this->body->SetSpaceId( this->raySpaceId );
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
===================================================================
--- code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
2009-03-10 09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/server/sensors/ray/RaySensor.cc
2009-03-10 09:37:04 UTC (rev 7443)
@@ -111,9 +111,7 @@
dGeomSetCategoryBits((dGeomID) this->raySpaceId, GZ_SENSOR_COLLIDE);
dGeomSetCollideBits((dGeomID) this->raySpaceId, ~GZ_SENSOR_COLLIDE);
- //this->body->spaceId = this->superSpaceId;
- this->body->spaceId = this->raySpaceId;
-
+ this->body->SetSpaceId( this->raySpaceId );
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/worlds/pioneer2dx.world
===================================================================
--- code/branches/federation/gazebo/worlds/pioneer2dx.world 2009-03-10
09:07:34 UTC (rev 7442)
+++ code/branches/federation/gazebo/worlds/pioneer2dx.world 2009-03-10
09:37:04 UTC (rev 7443)
@@ -96,9 +96,7 @@
<model:physical name="pioneer2dx_model1">
<xyz>0 0 .145</xyz>
<rpy>0.0 0.0 90.0</rpy>
- <enableGravity>false</enableGravity>
- <enableFriction>false</enableFriction>
- <!--<collide>ghost</collide>-->
+ <collide>all</collide>
<controller:differential_position2d name="controller1">
<leftJoint>left_wheel_hinge</leftJoint>
@@ -109,10 +107,8 @@
<interface:position name="position_iface_0"/>
</controller:differential_position2d>
- <model:physical name="laser">
+ <!--<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
- <enableGravity>false</enableGravity>
- <!-- <collide>ghost</collide>-->
<attach>
<parentBody>chassis_body</parentBody>
@@ -123,32 +119,13 @@
<xi:include href="models/sicklms200.model" />
</include>
</model:physical>
+ -->
<include embedded="true">
<xi:include href="models/pioneer2dx.model" />
</include>
</model:physical>
- <model:physical name="box1_model">
- <xyz>0 0.5 0.5</xyz>
- <canonicalBody>box1_body</canonicalBody>
- <static>false</static>
-
- <body:box name="box1_body">
-
- <geom:box name="box1_geom">
- <size>1 .1 1</size>
- <mass>0.1</mass>
- <visual>
- <size>1 .1 1</size>
- <mesh>unit_box</mesh>
- <material>Gazebo/Rocky</material>
- </visual>
- </geom:box>
- </body:box>
- </model:physical>
-
-
<!-- White Point light -->
<model:renderable name="point_white">
<xyz>0 2 2</xyz>
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