Revision: 7705
http://playerstage.svn.sourceforge.net/playerstage/?rev=7705&view=rev
Author: natepak
Date: 2009-05-20 23:51:46 +0000 (Wed, 20 May 2009)
Log Message:
-----------
Added <range> tags to lights
Modified Paths:
--------------
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/worlds/audio.world
code/gazebo/trunk/worlds/bandit.world
code/gazebo/trunk/worlds/bumper.world
code/gazebo/trunk/worlds/factory.world
code/gazebo/trunk/worlds/federation.world
code/gazebo/trunk/worlds/laser.world
code/gazebo/trunk/worlds/lights.world
code/gazebo/trunk/worlds/map.world
code/gazebo/trunk/worlds/openal.world
code/gazebo/trunk/worlds/pioneer2at.world
code/gazebo/trunk/worlds/pioneer2dx.world
code/gazebo/trunk/worlds/pioneer2dx_camera.world
code/gazebo/trunk/worlds/pioneer2dx_gripper.world
code/gazebo/trunk/worlds/simplecar.world
code/gazebo/trunk/worlds/simpleshapes.world
code/gazebo/trunk/worlds/test.world
code/gazebo/trunk/worlds/trimesh.world
code/gazebo/trunk/worlds/wizbot.world
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-20 21:06:16 UTC
(rev 7704)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-20 23:51:46 UTC
(rev 7705)
@@ -176,16 +176,24 @@
light->setDirection(vec.x, vec.y, vec.z);
// Absolute range of light in world coordinates
- range = node->GetTupleDouble("attenuation",0,1000);
+ range = node->GetDouble("range",0,100);
// Constant factor. 1.0 means never attenuate, 0.0 is complete attenuation
- constant = node->GetTupleDouble("attenuation",1,1.0);
+ constant = node->GetTupleDouble("attenuation",0,1.0);
+ if (constant < 0)
+ constant = 0;
+ else if (constant > 1.0)
+ constant = 1.0;
// Linear factor. 1 means attenuate evenly over the distance
- linear = node->GetTupleDouble("attenuation",2,0);
+ linear = node->GetTupleDouble("attenuation",1,0);
+ if (linear < 0)
+ linear = 0;
+ else if (linear > 1.0)
+ linear = 1.0;
// Quadartic factor.adds a curvature to the attenuation formula
- quad = node->GetTupleDouble("attenuation",3,0);
+ quad = node->GetTupleDouble("attenuation",2,0);
// Set attenuation
light->setAttenuation(range, constant, linear, quad);
@@ -194,7 +202,7 @@
// options for spotlights
if (lightType == "spot")
{
- vec = node->GetVector3("range", Vector3(5.0, 10.0, 1.0));
+ vec = node->GetVector3("spotCone", Vector3(5.0, 10.0, 1.0));
light->setSpotlightRange(Ogre::Radian(Ogre::Degree(vec.x)),
Ogre::Radian(Ogre::Degree(vec.y)), vec.z);
}
Modified: code/gazebo/trunk/worlds/audio.world
===================================================================
--- code/gazebo/trunk/worlds/audio.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/audio.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -145,7 +145,10 @@
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
<specularColor>0.1 0.1 0.1</specularColor>
- <attenuation>20 0.5 0.1 0</attenuation>
+ <range>20</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.5 0.1 0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/bandit.world
===================================================================
--- code/gazebo/trunk/worlds/bandit.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/bandit.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -166,7 +166,10 @@
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
<specularColor>0.1 0.1 0.1</specularColor>
- <attenuation>10 0.8 0.1 0.0</attenuation>
+ <range>10</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.8 0.1 0.0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/bumper.world
===================================================================
--- code/gazebo/trunk/worlds/bumper.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/bumper.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -135,15 +135,17 @@
</include>
</model:physical>
- <!-- White Directional light -->
+ <!-- White Point light -->
<model:renderable name="directional_white">
<enableGravity>false</enableGravity>
<light>
- <type>directional</type>
- <direction>0 -0.6 -0.4</direction>
+ <type>point</type>
<diffuseColor>1.0 1.0 1.0</diffuseColor>
<specularColor>0.2 0.2 0.2</specularColor>
- <attenuation>1000 1.0 0.0 0</attenuation>
+ <range>20</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>1.0 0.0 0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/factory.world
===================================================================
--- code/gazebo/trunk/worlds/factory.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/factory.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -87,15 +87,18 @@
</controller:factory>
</model:empty>
- <!-- White Directional light -->
+ <!-- White Point light -->
<model:renderable name="directional_white">
<enableGravity>false</enableGravity>
<light>
- <type>directional</type>
+ <type>point</type>
<direction>0 -0.5 -0.5</direction>
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>100 0.0 1.0 0.4</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.0 1.0 0.4</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/federation.world
===================================================================
--- code/gazebo/trunk/worlds/federation.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/federation.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -135,7 +135,10 @@
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
<specularColor>0.1 0.1 0.1</specularColor>
- <attenuation>20 0.5 0.1 0</attenuation>
+ <range>20</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.5 0.1 0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/laser.world
===================================================================
--- code/gazebo/trunk/worlds/laser.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/laser.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -95,15 +95,17 @@
</body:plane>
</model:physical>
- <!-- White Directional light -->
+ <!-- White Point light -->
<model:renderable name="directional_white">
<enableGravity>false</enableGravity>
<light>
- <type>directional</type>
- <direction>0 -0.5 -0.5</direction>
+ <type>point</type>
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>100 0.0 1.0 0.4</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.0 1.0 0.4</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/lights.world
===================================================================
--- code/gazebo/trunk/worlds/lights.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/lights.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -63,7 +63,9 @@
<direction>0 -1 0</direction>
<diffuseColor>0.1 0.0 0.0</diffuseColor>
<specularColor>0.2 0.0 0.0</specularColor>
- <attenuation>5 0.2 0.2 0.00</attenuation>
+ <range>5</range>
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.2 0.2 0.00</attenuation>
</light>
</model:renderable>
@@ -78,7 +80,9 @@
<direction>0 -1 0</direction>
<diffuseColor>0.0 0.1 0.0</diffuseColor>
<specularColor>0.0 0.2 0.0</specularColor>
- <attenuation>10 0.2 0.1 0.00</attenuation>
+ <range>10</range>
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.2 0.1 0.00</attenuation>
</light>
</model:renderable>
@@ -108,7 +112,9 @@
<diffuseColor>0.0 0.0 0.1</diffuseColor>
<specularColor>0.0 0.0 0.2</specularColor>
<attenuation>100 0.2 0.1 0.00</attenuation>
- <range>8.0, 10.0, 2.0</range>
+
+ <!-- InnerAngle OutterAngle Falloff -->
+ <spotCone>8.0 10.0 2.0</spotCone>
</light>
</model:renderable>
@@ -124,7 +130,10 @@
<type>point</type>
<diffuseColor>0.1 0.1 0.0</diffuseColor>
<specularColor>0.3 0.3 0.3</specularColor>
- <attenuation>10 0.4 0.1 0.0</attenuation>
+ <range>10</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.4 0.1 0.0</attenuation>
</light>
</model:renderable>
@@ -136,7 +145,10 @@
<direction>0 -1 0</direction>
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>100 0.0 1.0 0.4</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.0 1.0 0.4</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/map.world
===================================================================
--- code/gazebo/trunk/worlds/map.world 2009-05-20 21:06:16 UTC (rev 7704)
+++ code/gazebo/trunk/worlds/map.world 2009-05-20 23:51:46 UTC (rev 7705)
@@ -83,7 +83,10 @@
<direction>0 -0.6 -0.4</direction>
<diffuseColor>1.0 1.0 1.0</diffuseColor>
<specularColor>0.2 0.2 0.2</specularColor>
- <attenuation>100 1.0 0.0 0</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>1.0 0.0 0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/openal.world
===================================================================
--- code/gazebo/trunk/worlds/openal.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/openal.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -136,7 +136,10 @@
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
<specularColor>0.1 0.1 0.1</specularColor>
- <attenuation>10 0.8 0.1 0.0</attenuation>
+ <range>10</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.8 0.1 0.0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/pioneer2at.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2at.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/pioneer2at.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -117,7 +117,10 @@
<direction>0 -0.8 -0.3</direction>
<diffuseColor>0.9 0.9 0.9</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>100 0.0 1.0 0.4</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.0 1.0 0.4</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -153,7 +153,10 @@
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
<specularColor>0.1 0.1 0.1</specularColor>
- <attenuation>20 0.5 0.1 0</attenuation>
+ <range>20</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.5 0.1 0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/pioneer2dx_camera.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-05-20 21:06:16 UTC
(rev 7704)
+++ code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-05-20 23:51:46 UTC
(rev 7705)
@@ -124,11 +124,14 @@
<light>
<type>spot</type>
- <range>1000 1000 100</range>
+ <spotCone>1000 1000 100</spotCone>
<direction>-0.1 0 -0.9</direction>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
<specularColor>0.1 0.1 0.1</specularColor>
- <attenuation>10 1.0 0.0 0</attenuation>
+ <range>10</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>1.0 0.0 0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/pioneer2dx_gripper.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_gripper.world 2009-05-20 21:06:16 UTC
(rev 7704)
+++ code/gazebo/trunk/worlds/pioneer2dx_gripper.world 2009-05-20 23:51:46 UTC
(rev 7705)
@@ -110,7 +110,10 @@
<direction>0 -0.6 -0.4</direction>
<diffuseColor>1.0 1.0 1.0</diffuseColor>
<specularColor>0.2 0.2 0.2</specularColor>
- <attenuation>1000 1.0 0.0 0</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>1.0 0.0 0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/simplecar.world
===================================================================
--- code/gazebo/trunk/worlds/simplecar.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/simplecar.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -120,7 +120,10 @@
<direction>0 -0.8 -0.3</direction>
<diffuseColor>0.9 0.9 0.9</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>100 0.0 1.0 0.4</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.0 1.0 0.4</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -122,7 +122,10 @@
<type>point</type>
<diffuseColor>0.9 0.9 0.9</diffuseColor>
<specularColor>0.1 0.1 0.1</specularColor>
- <attenuation>10 0.8 0.1 0.0</attenuation>
+ <range>10</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.8 0.1 0.0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/test.world
===================================================================
--- code/gazebo/trunk/worlds/test.world 2009-05-20 21:06:16 UTC (rev 7704)
+++ code/gazebo/trunk/worlds/test.world 2009-05-20 23:51:46 UTC (rev 7705)
@@ -148,7 +148,10 @@
<direction>0 -0.6 -0.4</direction>
<diffuseColor>1.0 1.0 1.0</diffuseColor>
<specularColor>0.2 0.2 0.2</specularColor>
- <attenuation>1000 1.0 0.0 0</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>1.0 0.0 0</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/trimesh.world
===================================================================
--- code/gazebo/trunk/worlds/trimesh.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/trimesh.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -80,7 +80,10 @@
<direction>0 -0.5 -0.5</direction>
<diffuseColor>0.4 0.4 0.4</diffuseColor>
<specularColor>0.0 0.0 0.0</specularColor>
- <attenuation>100 0.0 1.0 0.4</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.0 1.0 0.4</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/wizbot.world
===================================================================
--- code/gazebo/trunk/worlds/wizbot.world 2009-05-20 21:06:16 UTC (rev
7704)
+++ code/gazebo/trunk/worlds/wizbot.world 2009-05-20 23:51:46 UTC (rev
7705)
@@ -169,7 +169,10 @@
<direction>0 -0.6 -0.4</direction>
<diffuseColor>1.0 1.0 1.0</diffuseColor>
<specularColor>0.2 0.2 0.2</specularColor>
- <attenuation>1000 1.0 0.0 0</attenuation>
+ <range>100</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>1.0 0.0 0</attenuation>
</light>
</model:renderable>
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