Revision: 7499
http://playerstage.svn.sourceforge.net/playerstage/?rev=7499&view=rev
Author: hsujohnhsu
Date: 2009-03-17 00:58:27 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
more for headless mode.
Modified Paths:
--------------
code/gazebo/branches/ogre-1.4.9/server/physics/RayGeom.cc
Modified: code/gazebo/branches/ogre-1.4.9/server/physics/RayGeom.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/physics/RayGeom.cc 2009-03-17
00:56:44 UTC (rev 7498)
+++ code/gazebo/branches/ogre-1.4.9/server/physics/RayGeom.cc 2009-03-17
00:58:27 UTC (rev 7499)
@@ -33,6 +33,7 @@
#include "Body.hh"
#include "Global.hh"
#include "RayGeom.hh"
+#include "Simulator.hh"
using namespace gazebo;
@@ -47,7 +48,7 @@
// Create default ray with unit length
this->SetGeom( dCreateRay( this->spaceId, 1.0 ), false );
- if (displayRays)
+ if (Simulator::Instance()->GetRenderEngineEnabled() && displayRays)
{
this->line = new OgreDynamicLines(OgreDynamicRenderable::OT_LINE_LIST);
@@ -71,11 +72,12 @@
// Destructor
RayGeom::~RayGeom()
{
- if (this->line)
- {
- delete this->line;
- this->line = NULL;
- }
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ if (this->line)
+ {
+ delete this->line;
+ this->line = NULL;
+ }
}
void RayGeom::Update()
@@ -119,13 +121,14 @@
dGeomRaySetLength( this->geomId,
this->globalStartPos.Distance(this->globalEndPos) );
- if (this->line)
- {
- // Set the line's position relative to it's parent scene node
- this->line->SetPoint(0, this->relativeStartPos);
- this->line->SetPoint(1, this->relativeEndPos);
- this->line->Update();
- }
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ if (this->line)
+ {
+ // Set the line's position relative to it's parent scene node
+ this->line->SetPoint(0, this->relativeStartPos);
+ this->line->SetPoint(1, this->relativeEndPos);
+ this->line->Update();
+ }
}
//////////////////////////////////////////////////////////////////////////////
@@ -151,14 +154,15 @@
//dGeomRaySetLength( this->geomId, len );
this->contactLen=len;
- if (this->line)
- {
- Vector3 dir = this->relativeEndPos - this->relativeStartPos;
- dir.Normalize();
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ if (this->line)
+ {
+ Vector3 dir = this->relativeEndPos - this->relativeStartPos;
+ dir.Normalize();
- this->line->SetPoint(1, dir * len + this->relativeStartPos);
- this->line->Update();
- }
+ this->line->SetPoint(1, dir * len + this->relativeStartPos);
+ this->line->Update();
+ }
}
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