Revision: 7445
http://playerstage.svn.sourceforge.net/playerstage/?rev=7445&view=rev
Author: natepak
Date: 2009-03-10 09:39:14 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
Added missing objects
Added Paths:
-----------
code/branches/federation/gazebo/server/GraphicsIfaceHandler.cc
code/branches/federation/gazebo/server/GraphicsIfaceHandler.hh
code/branches/federation/gazebo/server/rendering/OgreVisualManager.cc
code/branches/federation/gazebo/server/rendering/OgreVisualManager.hh
Added: code/branches/federation/gazebo/server/GraphicsIfaceHandler.cc
===================================================================
--- code/branches/federation/gazebo/server/GraphicsIfaceHandler.cc
(rev 0)
+++ code/branches/federation/gazebo/server/GraphicsIfaceHandler.cc
2009-03-10 09:39:14 UTC (rev 7445)
@@ -0,0 +1,292 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Handles messages from the graphics ifaces
+ * Author: Nate Koenig
+ * Date: 9 Mar 2009
+ * SVN: $Id:$
+ */
+
+#include "gazebo.h"
+#include "World.hh"
+#include "Entity.hh"
+#include "GazeboError.hh"
+#include "GazeboMessage.hh"
+#include "IfaceFactory.hh"
+#include "OgreVisual.hh"
+#include "OgreCreator.hh"
+#include "OgreVisualManager.hh"
+#include "OgreDynamicLines.hh"
+#include "GraphicsIfaceHandler.hh"
+#include "OgreAdaptor.hh"
+
+using namespace gazebo;
+
+////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+GraphicsIfaceHandler::GraphicsIfaceHandler()
+{
+ this->threeDIface = NULL;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+GraphicsIfaceHandler::~GraphicsIfaceHandler()
+{
+ if (this->threeDIface)
+ delete this->threeDIface;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Load the graphics handler
+void GraphicsIfaceHandler::Load(const std::string &_name, Entity *_parent)
+{
+ this->name = _name;
+
+ // Create the graphics3d interface
+ try
+ {
+ this->threeDIface = (Graphics3dIface*)IfaceFactory::NewIface("graphics3d");
+
+ this->threeDIface->Create(World::Instance()->GetGzServer(), _name);
+ }
+ catch (std::string err)
+ {
+ gzerr(0) << "Error: Unable to make graphics3d interface";
+ gzthrow(err);
+ }
+
+ this->parent = _parent;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Init the graphics handler
+void GraphicsIfaceHandler::Init()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Update the graphics handler
+void GraphicsIfaceHandler::Update()
+{
+ OgreVisual *vis = NULL;
+ std::map<std::string, OgreVisual* >::iterator iter;
+
+ this->threeDIface->Lock(1);
+ for (unsigned int i=0; i < this->threeDIface->data->cmdCount; i++)
+ {
+ // Get the name of visual to create/modify
+ std::string visName = this->threeDIface->data->commands[i].name;
+
+ iter = this->visuals.find(visName);
+
+ if (iter == this->visuals.end())
+ {
+ std::ostringstream nodeName;
+ nodeName << "GraphicsIfaceHandler_" << this->name << ": "
+ << this->visuals.size();
+
+ if (this->parent)
+ vis = OgreVisualManager::Instance()->CreateVisual(nodeName.str(),
+ this->parent->GetVisualNode());
+ else
+ vis = OgreVisualManager::Instance()->CreateVisual(nodeName.str());
+
+ this->visuals[visName] = vis;
+ }
+ else
+ vis = iter->second;
+
+ switch( this->threeDIface->data->commands[i].drawMode )
+ {
+ case Graphics3dDrawData::POINTS:
+ case Graphics3dDrawData::LINES:
+ case Graphics3dDrawData::LINE_STRIP:
+ this->DrawSimple(vis, &this->threeDIface->data->commands[i]);
+ break;
+
+ case Graphics3dDrawData::PLANE:
+ case Graphics3dDrawData::SPHERE:
+ case Graphics3dDrawData::CUBE:
+ case Graphics3dDrawData::BILLBOARD:
+ this->DrawShape(vis, &this->threeDIface->data->commands[i] );
+ break;
+
+ default:
+ gzerr(0) << "Unknown draw mode["
+ << this->threeDIface->data->commands[i].drawMode << "\n";
+ break;
+ }
+ }
+
+ this->threeDIface->data->cmdCount = 0;
+ this->threeDIface->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Helper funciton used to draw simple elements
+void GraphicsIfaceHandler::DrawSimple(OgreVisual *vis, Graphics3dDrawData
*data)
+{
+ Vector3 pos;
+ bool attached = false;
+ OgreDynamicRenderable::OperationType opType;
+ OgreDynamicLines *line;
+
+ switch(data->drawMode)
+ {
+ case Graphics3dDrawData::POINTS:
+ opType = OgreDynamicRenderable::OT_POINT_LIST;
+ break;
+ case Graphics3dDrawData::LINES:
+ opType = OgreDynamicRenderable::OT_LINE_LIST;
+ break;
+ case Graphics3dDrawData::LINE_STRIP:
+ opType = OgreDynamicRenderable::OT_LINE_STRIP;
+ break;
+ case Graphics3dDrawData::TRIANGLES:
+ opType = OgreDynamicRenderable::OT_TRIANGLE_LIST;
+ break;
+ case Graphics3dDrawData::TRIANGLE_STRIP:
+ opType = OgreDynamicRenderable::OT_TRIANGLE_STRIP;
+ break;
+ case Graphics3dDrawData::TRIANGLE_FAN:
+ opType = OgreDynamicRenderable::OT_TRIANGLE_FAN;
+ break;
+ default:
+ gzerr(0) << "Unknown draw operation mode["
+ << data->drawMode << "]\n";
+ return;
+ }
+
+
+ if (vis->GetNumAttached() > 0)
+ {
+ line = (OgreDynamicLines*)(vis->GetAttached(0));
+ attached = true;
+ }
+ else
+ line = new OgreDynamicLines(opType);
+
+ line->setMaterial(OgreCreator::CreateMaterial( data->color.r,
+ data->color.g,
+ data->color.b,
+ data->color.a ));
+
+ // Set the line vertices
+ for (unsigned int i=0; i < data->pointCount; i++)
+ {
+ pos.Set( data->points[i].x, data->points[i].y, data->points[i].z);
+
+ if (attached)
+ line->SetPoint(i,pos);
+ else
+ line->AddPoint(pos);
+ }
+
+ line->Update();
+
+ if (!attached)
+ vis->AttachObject(line);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Helper funciton used to draw shapes
+void GraphicsIfaceHandler::DrawShape(OgreVisual *vis, Graphics3dDrawData *data)
+{
+ switch(data->drawMode)
+ {
+ case Graphics3dDrawData::CUBE:
+ {
+ if (vis->GetNumAttached() <= 0)
+ vis->AttachMesh("unit_box");
+
+ vis->SetScale(Vector3(data->size.x, data->size.y, data->size.z) );
+ vis->SetPosition(Vector3(data->pose.pos.x,
+ data->pose.pos.y,
+ data->pose.pos.z) );
+ break;
+ }
+
+ case Graphics3dDrawData::CYLINDER:
+ {
+ if (vis->GetNumAttached() <= 0)
+ vis->AttachMesh("unit_cylinder");
+
+ vis->SetScale(Vector3(data->size.x, data->size.y, data->size.z) );
+ vis->SetPosition(Vector3(data->pose.pos.x,
+ data->pose.pos.y,
+ data->pose.pos.z) );
+ break;
+ }
+
+ case Graphics3dDrawData::SPHERE:
+ {
+ if (vis->GetNumAttached() <= 0)
+ vis->AttachMesh("unit_sphere");
+
+ vis->SetScale(Vector3(data->size.x, data->size.y, data->size.z) );
+ vis->SetPosition(Vector3(data->pose.pos.x,
+ data->pose.pos.y,
+ data->pose.pos.z) );
+ break;
+ }
+ case Graphics3dDrawData::BILLBOARD:
+ {
+ bool attached = false;
+ Ogre::BillboardSet *bset = NULL;
+
+ if (vis->GetNumAttached() >0)
+ {
+ attached = true;
+ bset = (Ogre::BillboardSet *)vis->GetAttached(0);
+ bset->clear();
+ }
+ else
+ {
+ std::ostringstream bname;
+
+ bname << "BILLBOARD_" << this->name;
+ bset = OgreAdaptor::Instance()->sceneMgr->createBillboardSet(
+ bname.str().c_str());
+ }
+
+ Ogre::Billboard *billboard = bset->createBillboard(
+ Ogre::Vector3(data->pose.pos.x,
+ data->pose.pos.y,
+ data->pose.pos.z));
+
+ billboard->setDimensions(data->size.x, data->size.y);
+ bset->setMaterialName(
+ OgreCreator::CreateMaterialFromTexFile( data->billboardTexture));
+
+ if (!attached)
+ vis->AttachObject(bset);
+
+ break;
+ }
+ default:
+ {
+ gzerr(0) << "Unknown draw mode for shapes["
+ << data->drawMode << "]\n";
+ break;
+ }
+ }
+}
+
Added: code/branches/federation/gazebo/server/GraphicsIfaceHandler.hh
===================================================================
--- code/branches/federation/gazebo/server/GraphicsIfaceHandler.hh
(rev 0)
+++ code/branches/federation/gazebo/server/GraphicsIfaceHandler.hh
2009-03-10 09:39:14 UTC (rev 7445)
@@ -0,0 +1,72 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Handles messages from the graphics ifaces
+ * Author: Nate Koenig
+ * Date: 9 Mar 2009
+ * SVN: $Id:$
+ */
+
+#ifndef GRAPHICS_HH
+#define GRAPHICS_HH
+
+#include <map>
+#include "gazebo.h"
+
+namespace gazebo
+{
+
+ class Graphics3dIface;
+ class Entity;
+ class OgreVisual;
+
+ /// \brief Used to handle message from the graphics3d libgazebo iface
+ class GraphicsIfaceHandler
+ {
+ /// \brief Constructor
+ public: GraphicsIfaceHandler();
+
+ /// \brief Destructor
+ public: virtual ~GraphicsIfaceHandler();
+
+ /// \brief Load the graphics handler
+ public: void Load(const std::string &name, Entity *parent = NULL);
+
+ /// \brief Init the graphics handler
+ public: void Init();
+
+ /// \brief Update the graphics handler
+ public: void Update();
+
+ /// \brief Helper funciton used to draw simple primitives
+ private: void DrawSimple(OgreVisual *vis, Graphics3dDrawData *data);
+
+ /// \brief Helper funciton used to draw shapes
+ private: void DrawShape(OgreVisual *vis, Graphics3dDrawData *data);
+
+ private: std::string name;
+ private: std::map<std::string, OgreVisual* > visuals;
+ private: Graphics3dIface *threeDIface;
+ private: Entity *parent;
+ };
+
+}
+
+#endif
Added: code/branches/federation/gazebo/server/rendering/OgreVisualManager.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreVisualManager.cc
(rev 0)
+++ code/branches/federation/gazebo/server/rendering/OgreVisualManager.cc
2009-03-10 09:39:14 UTC (rev 7445)
@@ -0,0 +1,122 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Manager of Ogre Visuals
+ * Author: Nate Koenig
+ * Date: 09 Mar 2009
+ * SVN: $Id:$
+ */
+
+#include "Model.hh"
+#include "GazeboError.hh"
+#include "Entity.hh"
+#include "OgreVisual.hh"
+#include "OgreVisualManager.hh"
+
+using namespace gazebo;
+
+////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+OgreVisualManager::OgreVisualManager()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+OgreVisualManager::~OgreVisualManager()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Create a new ogre visual
+OgreVisual *OgreVisualManager::CreateVisual( const std::string &name,
+ OgreVisual *parent, Entity *owner)
+{
+ OgreVisual *newVis = NULL;
+ std::map<std::string, OgreVisual*>::iterator iter;
+
+ iter = this->visuals.find(name);
+
+ if (iter == this->visuals.end())
+ {
+ newVis = new OgreVisual(parent, owner);
+ newVis->SetName(name);
+ this->visuals[name] = newVis;
+ }
+ else
+ gzthrow(std::string("Name of ogre visual already exists: ") + name);
+
+ return newVis;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Create a standalone visual
+OgreVisual *OgreVisualManager::CreateStandaloneVisual( const std::string
&name,
+ const std::string &type
)
+{
+ OgreVisual *newVis = NULL;
+ std::map<std::string, OgreVisual*>::iterator iter;
+
+ iter = this->visuals.find(name);
+
+ if (iter == this->visuals.end())
+ {
+ newVis = new OgreVisual(NULL, NULL);
+ newVis->SetName(name);
+ this->visuals[name] = newVis;
+ }
+ else
+ gzthrow(std::string("Name of ogre visual already exists: ") + name);
+
+ return newVis;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+/// Remove a visual
+void OgreVisualManager::RemoveVisual( const std::string &name )
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Update all the visuals
+void OgreVisualManager::Update()
+{
+ /*std::map<std::string, OgreVisual*>::iterator iter;
+ OgreVisual *vis = NULL;
+ Entity *owner = NULL;
+ Pose3d pose;
+
+ printf("----------------------\n");
+ for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
+ {
+ vis = iter->second;
+ owner = vis->GetOwner();
+ Model *model = dynamic_cast<Model*>(owner);
+
+ if (owner)
+ {
+ //std::cout << "Vis[" << owner->GetName() << "] Pose[" <<
owner->GetPoseRelative() << "]\n";
+ //vis->SetPose(owner->GetPoseRelative());
+ }
+ }
+ */
+}
+
Added: code/branches/federation/gazebo/server/rendering/OgreVisualManager.hh
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreVisualManager.hh
(rev 0)
+++ code/branches/federation/gazebo/server/rendering/OgreVisualManager.hh
2009-03-10 09:39:14 UTC (rev 7445)
@@ -0,0 +1,79 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Manager of Ogre Visuals
+ * Author: Nate Koenig
+ * Date: 09 Mar 2009
+ * SVN: $Id:$
+ */
+
+#ifndef OGREVISUALMANAGER_HH
+#define OGREVISUALMANAGER_HH
+
+#include <map>
+
+#include "SingletonT.hh"
+
+namespace gazebo
+{
+ class OgreVisual;
+ class Entity;
+
+ /// \brief Class to manage all the ogre visuals
+ class OgreVisualManager : public SingletonT<OgreVisualManager>
+ {
+ /// \brief Constructor
+ private: OgreVisualManager();
+
+ /// \brief Destructor
+ private: virtual ~OgreVisualManager();
+
+ /// \brief Create a new ogre visual
+ /// \param name Unique name for the new visual
+ /// \param parent Parent visual
+ /// \param owner The entity that owns the visual
+ /// \return The new ogre visual
+ public: OgreVisual *CreateVisual( const std::string &name,
+ OgreVisual *parent=NULL,
+ Entity *owner = NULL );
+
+ /// \brief Create a standalone visual
+ /// \param name Unique name
+ /// \param type Type of visual object to create
+ /// \return The newly created visual
+ public: OgreVisual *CreateStandaloneVisual( const std::string &name,
+ const std::string &type );
+
+ /// \brief Remove a visual
+ /// \param name Unique name of the visual to remove
+ public: void RemoveVisual( const std::string &name );
+
+ /// \brief Update all the visuals
+ public: void Update();
+
+ // All the visuals
+ private: std::map<std::string, OgreVisual*> visuals;
+
+ private: friend class DestroyerT<OgreVisualManager>;
+ private: friend class SingletonT<OgreVisualManager>;
+ };
+}
+
+#endif
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