Revision: 7446
http://playerstage.svn.sourceforge.net/playerstage/?rev=7446&view=rev
Author: natepak
Date: 2009-03-10 09:40:23 +0000 (Tue, 10 Mar 2009)
Log Message:
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Added missing files
Added Paths:
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code/branches/federation/gazebo/Media/materials/textures/heartpsg.png
code/branches/federation/gazebo/libgazebo/Graphics3dIface.cc
Added: code/branches/federation/gazebo/Media/materials/textures/heartpsg.png
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(Binary files differ)
Property changes on:
code/branches/federation/gazebo/Media/materials/textures/heartpsg.png
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Added: svn:mime-type
+ application/octet-stream
Added: code/branches/federation/gazebo/libgazebo/Graphics3dIface.cc
===================================================================
--- code/branches/federation/gazebo/libgazebo/Graphics3dIface.cc
(rev 0)
+++ code/branches/federation/gazebo/libgazebo/Graphics3dIface.cc
2009-03-10 09:40:23 UTC (rev 7446)
@@ -0,0 +1,130 @@
+#include "gazebo.h"
+
+using namespace gazebo;
+
+////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+Graphics3dIface::Graphics3dIface()
+ :Iface("graphics3d", sizeof(Graphics3dIface)+sizeof(Graphics3dData))
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+Graphics3dIface::~Graphics3dIface()
+{
+ this->data = NULL;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Create the interface (used by Gazebo server)
+void Graphics3dIface::Create(Server *server, std::string id)
+{
+ Iface::Create(server,id);
+ this->data = (Graphics3dData*)this->mMap;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Open an existing interface
+void Graphics3dIface::Open(Client *client, std::string id)
+{
+ Iface::Open(client,id);
+ this->data = (Graphics3dData*)this->mMap;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Draw a simple object, that is defined by a series of points
+void Graphics3dIface::DrawSimple(const char *name,
+ Graphics3dDrawData::DrawMode mode,
+ Vec3 *points, unsigned int numPoints,
+ Color clr )
+{
+ this->Lock(1);
+ Graphics3dDrawData *cmd = &(this->data->commands[this->data->cmdCount++]);
+
+ cmd->pointCount = numPoints;
+
+ cmd->drawMode = mode;
+
+ // Set the name of the graphics drawable
+ memset( cmd->name, 0, GAZEBO_GRAPHICS3D_MAX_NAME);
+ strcpy( cmd->name, name);
+
+ memcpy(cmd->points, points, numPoints * sizeof(Vec3));
+
+ cmd->color.r = clr.r;
+ cmd->color.g = clr.g;
+ cmd->color.b = clr.b;
+ cmd->color.a = clr.a;
+
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Draw a shape
+void Graphics3dIface::DrawShape(const char *name,
+ Graphics3dDrawData::DrawMode mode,
+ Vec3 pos, Vec3 size, Color clr)
+{
+ this->Lock(1);
+ Graphics3dDrawData *cmd = &(this->data->commands[this->data->cmdCount++]);
+
+ if (mode != Graphics3dDrawData::SPHERE &&
+ mode != Graphics3dDrawData::CUBE &&
+ mode != Graphics3dDrawData::CYLINDER)
+ {
+ std::cerr << "Invalid shape draw mode[" << mode << "]\n";
+ return;
+ }
+
+ cmd->drawMode = mode;
+
+ // Set the name of the graphics drawable
+ memset( cmd->name, 0, GAZEBO_GRAPHICS3D_MAX_NAME);
+ strcpy( cmd->name, name);
+
+ cmd->pose.pos.x = pos.x;
+ cmd->pose.pos.y = pos.y;
+ cmd->pose.pos.z = pos.z;
+
+ cmd->size.x = size.x;
+ cmd->size.y = size.y;
+ cmd->size.z = size.z;
+
+
+ cmd->color.r = clr.r;
+ cmd->color.g = clr.g;
+ cmd->color.b = clr.b;
+ cmd->color.a = clr.a;
+
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Draw a billboard
+void Graphics3dIface::DrawBillboard(const char *name, const char *texture,
+ Vec3 pos, Vec2 size)
+{
+ this->Lock(1);
+ Graphics3dDrawData *cmd = &(this->data->commands[this->data->cmdCount++]);
+
+ cmd->drawMode = Graphics3dDrawData::BILLBOARD;
+
+ // Set the name of the graphics drawable
+ memset( cmd->name, 0, GAZEBO_GRAPHICS3D_MAX_NAME);
+ strcpy( cmd->name, name);
+
+ // Set the material to draw on the billboard
+ memset( cmd->billboardTexture, 0, GAZEBO_GRAPHICS3D_MAX_NAME);
+ strcpy( cmd->billboardTexture, texture);
+
+ cmd->pose.pos.x = pos.x;
+ cmd->pose.pos.y = pos.y;
+ cmd->pose.pos.z = pos.z;
+
+ cmd->size.x = size.x;
+ cmd->size.y = size.y;
+ cmd->size.z = 0;
+
+ this->Unlock();
+}
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