Revision: 7727
http://playerstage.svn.sourceforge.net/playerstage/?rev=7727&view=rev
Author: natepak
Date: 2009-05-27 15:10:05 +0000 (Wed, 27 May 2009)
Log Message:
-----------
Added comments
Modified Paths:
--------------
code/gazebo/trunk/server/Rand.cc
code/gazebo/trunk/server/Rand.hh
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
Modified: code/gazebo/trunk/server/Rand.cc
===================================================================
--- code/gazebo/trunk/server/Rand.cc 2009-05-27 03:11:26 UTC (rev 7726)
+++ code/gazebo/trunk/server/Rand.cc 2009-05-27 15:10:05 UTC (rev 7727)
@@ -1,3 +1,29 @@
+/*
+ * 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: Random number generator
+ * Author: Nate Koenig
+ * Date: 27 May 2009
+ * SVN: $Id:$
+ */
+
#include <ctime>
#include "Rand.hh"
Modified: code/gazebo/trunk/server/Rand.hh
===================================================================
--- code/gazebo/trunk/server/Rand.hh 2009-05-27 03:11:26 UTC (rev 7726)
+++ code/gazebo/trunk/server/Rand.hh 2009-05-27 15:10:05 UTC (rev 7727)
@@ -1,3 +1,29 @@
+/*
+ * 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: Random number generator
+ * Author: Nate Koenig
+ * Date: 27 May 2009
+ * SVN: $Id:$
+ */
+
#ifndef RAND_HH
#define RAND_HH
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-05-27 03:11:26 UTC
(rev 7726)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-05-27 15:10:05 UTC
(rev 7727)
@@ -196,8 +196,9 @@
else
{
this->sceneType= SCENE_EXT;
- this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
- //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
+ this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
+ //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
+ //this->sceneMgr = this->root->createSceneManager(Ogre::ST_GENERIC);
}
Param::Begin(&this->parameters);
@@ -211,33 +212,42 @@
this->drawGridP->Load(node);
this->updateRateP->Load(node);
+ //Preload basic shapes that can be used anywhere
+ OgreCreator::LoadBasicShapes();
ambient.r = (**(this->ambientP)).x;
ambient.g = (**(this->ambientP)).y;
ambient.b = (**(this->ambientP)).z;
ambient.a = (**(this->ambientP)).w;
- // Ambient lighting
- this->sceneMgr->setAmbientLight(ambient);
-
- this->sceneMgr->setShadowTextureSelfShadow(true);
- this->sceneMgr->setShadowTexturePixelFormat(Ogre::PF_FLOAT16_R);
- this->sceneMgr->setShadowTextureSize(**(this->shadowTextureSizeP));
- this->sceneMgr->setShadowIndexBufferSize(**(this->shadowIndexSizeP) );
-
+
// Settings for shadow mapping
if (**(this->shadowTechniqueP) == std::string("stencilAdditive"))
this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_STENCIL_ADDITIVE );
+ else if (**(this->shadowTechniqueP) == std::string("stencilModulative"))
+ this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_STENCIL_MODULATIVE );
else if (**(this->shadowTechniqueP) == std::string("textureAdditive"))
this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_TEXTURE_ADDITIVE );
+ else if (**(this->shadowTechniqueP) == std::string("textureModulative"))
+ this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_TEXTURE_MODULATIVE );
else if (**(this->shadowTechniqueP) == std::string("none"))
this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_NONE );
else
gzthrow(std::string("Unsupported shadow technique: ") +
**(this->shadowTechniqueP) + "\n");
- //Preload basic shapes that can be used anywhere
- OgreCreator::LoadBasicShapes();
+ this->sceneMgr->setShadowTextureSelfShadow(true);
+ this->sceneMgr->setShadowTexturePixelFormat(Ogre::PF_FLOAT16_R);
+ this->sceneMgr->setShadowTextureSize(**(this->shadowTextureSizeP));
+ this->sceneMgr->setShadowIndexBufferSize(**(this->shadowIndexSizeP) );
+ // Ambient lighting
+ this->sceneMgr->setAmbientLight(ambient);
+
+ this->sceneMgr->setShadowTextureSettings(512,2);
+ this->sceneMgr->setShowDebugShadows(true);
+ this->sceneMgr->setShadowColour(Ogre::ColourValue(0.2, 0.2, 0.2));
+ this->sceneMgr->setShadowFarDistance(30);
+
// Add a sky dome to our scene
if (node->GetChild("sky"))
{
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-27 03:11:26 UTC
(rev 7726)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-05-27 15:10:05 UTC
(rev 7727)
@@ -173,6 +173,7 @@
// Set the direction which the light points
vec = node->GetVector3("direction", Vector3(0.0, 0.0, -1.0));
+ vec.Normalize();
light->setDirection(vec.x, vec.y, vec.z);
// Absolute range of light in world coordinates
@@ -207,6 +208,8 @@
Ogre::Radian(Ogre::Degree(vec.y)), vec.z);
}
+ light->setCastShadows(node->GetBool("castShadows",false,0));
+
parent->AttachObject(light);
return stream.str();
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