Revision: 7739
http://playerstage.svn.sourceforge.net/playerstage/?rev=7739&view=rev
Author: natepak
Date: 2009-05-29 13:08:16 +0000 (Fri, 29 May 2009)
Log Message:
-----------
More bullet updates
Modified Paths:
--------------
code/gazebo/branches/bullet/cmake/SearchForStuff.cmake
code/gazebo/branches/bullet/server/Pose3d.cc
code/gazebo/branches/bullet/server/Pose3d.hh
code/gazebo/branches/bullet/server/Quatern.cc
code/gazebo/branches/bullet/server/Quatern.hh
code/gazebo/branches/bullet/server/Vector3.hh
code/gazebo/branches/bullet/server/physics/CMakeLists.txt
code/gazebo/branches/bullet/server/physics/MapGeom.cc
code/gazebo/branches/bullet/server/physics/MapGeom.hh
code/gazebo/branches/bullet/server/physics/PhysicsEngine.cc
code/gazebo/branches/bullet/server/physics/PhysicsEngine.hh
code/gazebo/branches/bullet/server/physics/bullet/BulletGeom.cc
code/gazebo/branches/bullet/server/physics/bullet/BulletHeightmapGeom.cc
code/gazebo/branches/bullet/server/physics/bullet/BulletHeightmapGeom.hh
code/gazebo/branches/bullet/server/physics/bullet/BulletMotionState.cc
code/gazebo/branches/bullet/server/physics/bullet/BulletPhysics.cc
code/gazebo/branches/bullet/server/physics/bullet/CMakeLists.txt
code/gazebo/branches/bullet/server/physics/ode/CMakeLists.txt
code/gazebo/branches/bullet/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/bullet/server/rendering/OgreCreator.cc
code/gazebo/branches/bullet/server/rendering/OgreVisual.cc
code/gazebo/branches/bullet/worlds/bullet.world
Modified: code/gazebo/branches/bullet/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/branches/bullet/cmake/SearchForStuff.cmake 2009-05-29
09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/cmake/SearchForStuff.cmake 2009-05-29
13:08:16 UTC (rev 7739)
@@ -243,9 +243,11 @@
MESSAGE (STATUS "Looking for libfreeimage - found")
ENDIF (NOT freeimage_library)
+
########################################
# Find avformat and avcodec
IF (HAVE_FFMPEG)
+
SET (libavformat_search_path
/usr/include /usr/include/libavformat /usr/local/include
/usr/local/include/libavformat
@@ -260,6 +262,7 @@
IF (NOT LIBAVFORMAT_PATH)
MESSAGE (STATUS "Looking for avformat.h - not found")
MESSAGE (STATUS " Warning: audio/video will not be built")
+ SET (LIBAVFORMAT_PATH /usr/include)
ELSE (NOT LIBAVFORMAT_PATH)
MESSAGE (STATUS "Looking for avformat.h - found")
ENDIF (NOT LIBAVFORMAT_PATH)
@@ -268,6 +271,7 @@
IF (NOT LIBAVCODEC_PATH)
MESSAGE (STATUS "Looking for avcodec.h - not found")
MESSAGE (STATUS " Warning: audio/video will not be built")
+ SET (LIBAVCODEC_PATH /usr/include)
ELSE (NOT LIBAVCODEC_PATH)
MESSAGE (STATUS "Looking for avcodec.h - found")
ENDIF (NOT LIBAVCODEC_PATH)
Modified: code/gazebo/branches/bullet/server/Pose3d.cc
===================================================================
--- code/gazebo/branches/bullet/server/Pose3d.cc 2009-05-29 09:33:48 UTC
(rev 7738)
+++ code/gazebo/branches/bullet/server/Pose3d.cc 2009-05-29 13:08:16 UTC
(rev 7739)
@@ -40,6 +40,8 @@
{
this->pos = pos;
this->rot = rot;
+
+ this->rot.Normalize();
}
////////////////////////////////////////////////////////////////////////////////
@@ -48,6 +50,7 @@
{
this->pos = pose.pos;
this->rot = pose.rot;
+ this->rot.Normalize();
}
////////////////////////////////////////////////////////////////////////////////
@@ -63,6 +66,13 @@
return this->pos.IsFinite() && this->rot.IsFinite();
}
+////////////////////////////////////////////////////////////////////////////////
+/// Get the inverse of this pose
+Pose3d Pose3d::GetInverse() const
+{
+ Quatern inv = this->rot.GetInverse();
+ return Pose3d( inv * this->pos, inv );
+}
////////////////////////////////////////////////////////////////////////////////
// Add two poses: result = this + obj
@@ -70,7 +80,7 @@
{
Pose3d result;
- result.pos = this->CoordPositionAdd(obj);
+ result.pos = this->CoordPositionAdd(obj.pos);
result.rot = this->CoordRotationAdd(obj.rot);
return result;
@@ -80,7 +90,7 @@
/// Add-Equals operator
const Pose3d &Pose3d::operator+=(const Pose3d &obj)
{
- this->pos = this->CoordPositionAdd(obj);
+ this->pos = this->CoordPositionAdd(obj.pos);
this->rot = this->CoordRotationAdd(obj.rot);
return *this;
@@ -108,45 +118,33 @@
return *this;
}
+
////////////////////////////////////////////////////////////////////////////////
-// Add one point to a vector: result = this + pos
-Vector3 Pose3d::CoordPositionAdd(const Vector3 &pos) const
+/// Multiplication operator
+Pose3d Pose3d::operator*(const Pose3d &pose)
{
- Quatern tmp;
- Vector3 result;
-
- // result = pose.rot + pose.rot * this->pos * pose.rot!
- tmp.u = 0.0;
- tmp.x = pos.x;
- tmp.y = pos.y;
- tmp.z = pos.z;
-
- tmp = this->rot * (tmp * this->rot.GetInverse());
- result.x = this->pos.x + tmp.x;
- result.y = this->pos.y + tmp.y;
- result.z = this->pos.z + tmp.z;
-
- return result;
+ return Pose3d(this->CoordPositionAdd(pose.pos), this->rot * pose.rot);
}
////////////////////////////////////////////////////////////////////////////////
// Add one point to another: result = this + pose
-Vector3 Pose3d::CoordPositionAdd(const Pose3d &pose) const
+Vector3 Pose3d::CoordPositionAdd(const Vector3 &_pos) const
{
Quatern tmp;
Vector3 result;
// result = pose.rot + pose.rot * this->pos * pose.rot!
tmp.u = 0.0;
- tmp.x = this->pos.x;
- tmp.y = this->pos.y;
- tmp.z = this->pos.z;
+ tmp.x = _pos.x;
+ tmp.y = _pos.y;
+ tmp.z = _pos.z;
- tmp = pose.rot * (tmp * pose.rot.GetInverse());
- result.x = pose.pos.x + tmp.x;
- result.y = pose.pos.y + tmp.y;
- result.z = pose.pos.z + tmp.z;
+ tmp = this->rot * (tmp * this->rot.GetInverse());
+ result.x = this->pos.x + tmp.x;
+ result.y = this->pos.y + tmp.y;
+ result.z = this->pos.z + tmp.z;
+
return result;
}
Modified: code/gazebo/branches/bullet/server/Pose3d.hh
===================================================================
--- code/gazebo/branches/bullet/server/Pose3d.hh 2009-05-29 09:33:48 UTC
(rev 7738)
+++ code/gazebo/branches/bullet/server/Pose3d.hh 2009-05-29 13:08:16 UTC
(rev 7739)
@@ -62,6 +62,9 @@
/// \brief See if a pose is finite (e.g., not nan)
public: bool IsFinite() const;
+ /// \brief Get the inverse of this pose
+ public: Pose3d GetInverse() const;
+
/// \brief Addition operator
/// \param pose Pose to add to this pose
/// \return The resulting pose
@@ -81,16 +84,14 @@
/// \param pose Pose to subtract from this one
/// \return The resulting pose
public: const Pose3d &operator-=(const Pose3d &pose);
+
+ /// \brief Multiplication operator
+ public: Pose3d operator*(const Pose3d &pose);
- /// \brief Add one point to a vector: result = this + pos
- /// \param pos Position to add to this pose
- /// \return The resulting position
- public: Vector3 CoordPositionAdd(const Vector3 &pos) const;
-
/// \brief Add one point to another: result = this + pose
/// \param pose The Pose to add
/// \return The resulting position
- public: Vector3 CoordPositionAdd(const Pose3d &pose) const;
+ public: Vector3 CoordPositionAdd(const Vector3 &pos) const;
/// \brief Subtract one position from another: result = this - pose
/// \param pose Pose to subtract
Modified: code/gazebo/branches/bullet/server/Quatern.cc
===================================================================
--- code/gazebo/branches/bullet/server/Quatern.cc 2009-05-29 09:33:48 UTC
(rev 7738)
+++ code/gazebo/branches/bullet/server/Quatern.cc 2009-05-29 13:08:16 UTC
(rev 7739)
@@ -97,25 +97,14 @@
// Invert the quaternion
void Quatern::Invert()
{
- this->x = -this->x;
- this->y = -this->y;
- this->z = -this->z;
+ (*this) = this->GetInverse();
}
////////////////////////////////////////////////////////////////////////////////
// Get the inverse of this quaternion
Quatern Quatern::GetInverse() const
{
- Quatern q;
-
- q.u = this->u;
- q.x = -this->x;
- q.y = -this->y;
- q.z = -this->z;
-
- //q.Normalize();
-
- return q;
+ return Quatern(this->u, -this->x, -this->y, -this->z);
}
@@ -285,6 +274,17 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Rotate a vector
+Vector3 Quatern::operator*( const Vector3 &v ) const
+{
+ Quatern tmp(0.0, v.x, v.y, v.z);
+
+ tmp = (*this) * (tmp * this->GetInverse());
+
+ return Vector3(tmp.x, tmp.y, tmp.z);
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Rotate a vector using the quaternion
Vector3 Quatern::RotateVector(Vector3 vec) const
{
Modified: code/gazebo/branches/bullet/server/Quatern.hh
===================================================================
--- code/gazebo/branches/bullet/server/Quatern.hh 2009-05-29 09:33:48 UTC
(rev 7738)
+++ code/gazebo/branches/bullet/server/Quatern.hh 2009-05-29 13:08:16 UTC
(rev 7739)
@@ -128,6 +128,9 @@
/// \return This quatern multiplied by the parameter
public: Quatern operator*( const Quatern &qt ) const;
+ /// \brief Vector3 multiplication operator
+ public: Vector3 operator*( const Vector3 &v ) const;
+
/// \brief Rotate a vector using the quaternion
/// \return The rotated vector
public: Vector3 RotateVector(Vector3 vec) const;
Modified: code/gazebo/branches/bullet/server/Vector3.hh
===================================================================
--- code/gazebo/branches/bullet/server/Vector3.hh 2009-05-29 09:33:48 UTC
(rev 7738)
+++ code/gazebo/branches/bullet/server/Vector3.hh 2009-05-29 13:08:16 UTC
(rev 7739)
@@ -161,6 +161,12 @@
};
+/// \brief Return the negative of the vector
+inline Vector3 operator-(const Vector3 &v)
+{
+ return Vector3(-v.x, -v.y, -v.z);
+}
+
/// \}
}
Modified: code/gazebo/branches/bullet/server/physics/CMakeLists.txt
===================================================================
--- code/gazebo/branches/bullet/server/physics/CMakeLists.txt 2009-05-29
09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/CMakeLists.txt 2009-05-29
13:08:16 UTC (rev 7739)
@@ -13,6 +13,7 @@
PhysicsEngine.cc
Mass.cc
PhysicsFactory.cc
+ MapGeom.cc
)
SET (headers Joint.hh
@@ -23,6 +24,7 @@
Mass.hh
PhysicsFactory.hh
PhysicsRaySensor.hh
+ MapGeom.hh
)
#ADD_LIBRARY(gazebo_physics STATIC ${sources})
Modified: code/gazebo/branches/bullet/server/physics/MapGeom.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/MapGeom.cc 2009-05-29
09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/MapGeom.cc 2009-05-29
13:08:16 UTC (rev 7739)
@@ -29,6 +29,7 @@
#include <string.h>
#include <math.h>
+#include "PhysicsEngine.hh"
#include "GazeboConfig.hh"
#include "OgreVisual.hh"
#include "Image.hh"
Modified: code/gazebo/branches/bullet/server/physics/MapGeom.hh
===================================================================
--- code/gazebo/branches/bullet/server/physics/MapGeom.hh 2009-05-29
09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/MapGeom.hh 2009-05-29
13:08:16 UTC (rev 7739)
@@ -21,17 +21,18 @@
/* Desc: Occupancy grid geom
* Author: Nate Koenig
* Date: 14 Jly 2008
- * CVS: $Id: BulletMapGeom.hh 7634 2009-05-11 01:43:31Z natepak $
+ * SVN: $Id: MapGeom.hh 7634 2009-05-11 01:43:31Z natepak $
*/
-#ifndef BulletMAPGEOM_HH
-#define BulletMAPGEOM_HH
+#ifndef MAPGEOM_HH
+#define MAPGEOM_HH
#include <deque>
#include "Vector2.hh"
#include "Param.hh"
-#include "BulletGeom.hh"
+#include "Mass.hh"
+#include "Geom.hh"
namespace gazebo
{
@@ -88,13 +89,13 @@
class QuadNode;
/// \brief Map geom
- class BulletMapGeom : public BulletGeom
+ class MapGeom : public Geom
{
/// \brief Constructor
- public: BulletMapGeom(Body *body);
+ public: MapGeom(Body *body);
/// \brief Destructor
- public: virtual ~BulletMapGeom();
+ public: virtual ~MapGeom();
/// \brief Update function
public: void Update();
@@ -104,7 +105,33 @@
/// \brief Save child parameters
public: void Save(std::string &prefix, std::ostream &stream);
-
+
+ /// \brief Return the pose of the geom
+ public: virtual void SetPose(const Pose3d &pose, bool updateCoM=true) {}
+
+ /// \brief Return the pose of the geom
+ public: virtual Pose3d GetPose() const {return Pose3d();}
+
+ /// \brief Set the category bits, used during collision detection
+ /// \param bits The bits
+ public: void SetCategoryBits(unsigned int bits) {}
+
+ /// \brief Set the collide bits, used during collision detection
+ /// \param bits The bits
+ public: void SetCollideBits(unsigned int bits) {}
+
+ /// \brief Get the mass of the geom
+ public: Mass GetBodyMassMatrix() {return Mass();}
+
+ /// \brief Set the mass
+ public: void SetMass(const Mass &mass) {}
+
+ /// \brief Set the mass from a double
+ public: void SetMass(const double &mass) {}
+
+ /// \brief Get the bounding box, defined by the physics engine
+ public: void GetBoundingBox( Vector3 &min, Vector3 &max ) {}
+
/// \brief Build the quadtree
private: void BuildTree(QuadNode *node);
Modified: code/gazebo/branches/bullet/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/PhysicsEngine.cc 2009-05-29
09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/PhysicsEngine.cc 2009-05-29
13:08:16 UTC (rev 7739)
@@ -26,6 +26,7 @@
#include <boost/thread/recursive_mutex.hpp>
+#include "MapGeom.hh"
#include "PhysicsEngine.hh"
using namespace gazebo;
@@ -89,3 +90,19 @@
{
this->mutex->unlock();
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Create a new geom
+Geom *PhysicsEngine::CreateGeom(const std::string &type, Entity *parent)
+{
+ Geom *geom = NULL;
+ Body *body = (Body*)(parent);
+
+ if (type == "map")
+ {
+ parent->SetStatic(true);
+ geom = new MapGeom(body);
+ }
+
+ return geom;
+}
Modified: code/gazebo/branches/bullet/server/physics/PhysicsEngine.hh
===================================================================
--- code/gazebo/branches/bullet/server/physics/PhysicsEngine.hh 2009-05-29
09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/PhysicsEngine.hh 2009-05-29
13:08:16 UTC (rev 7739)
@@ -115,7 +115,7 @@
/// \brief Create a new geom
public: virtual Geom *CreateGeom(const std::string &type,
- Entity *parent) = 0;
+ Entity *parent);
/// \brief Create a new body
public: virtual Body *CreateBody(Entity *parent) = 0;
Modified: code/gazebo/branches/bullet/server/physics/bullet/BulletGeom.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/bullet/BulletGeom.cc
2009-05-29 09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/bullet/BulletGeom.cc
2009-05-29 13:08:16 UTC (rev 7739)
@@ -65,7 +65,6 @@
void BulletGeom::Load(XMLConfigNode *node)
{
Geom::Load(node);
- std::cout << "BulletGeom[" << this->GetName() << "] Set Init Pose[" <<
this->GetPose() << "]\n";
this->visualNode->SetPose( this->GetPose() );
}
Modified:
code/gazebo/branches/bullet/server/physics/bullet/BulletHeightmapGeom.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/bullet/BulletHeightmapGeom.cc
2009-05-29 09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/bullet/BulletHeightmapGeom.cc
2009-05-29 13:08:16 UTC (rev 7739)
@@ -28,6 +28,8 @@
#include <string.h>
#include <math.h>
+#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
+
#include "Image.hh"
#include "Global.hh"
#include "OgreHeightmap.hh"
@@ -78,13 +80,79 @@
// Create a lookup table of the terrain's height
void BulletHeightmapGeom::FillHeightMap()
{
-
+ unsigned int x,y;
+ float *heights = new float[this->width * this->height];
+ float maxHeight = -FLT_MAX;
+
+ Vector3 scale = this->terrainSize / this->width;
+
+ // Iterate over all the verices
+ for (y=0; y<this->height; y++)
+ {
+ for (x=0; x<this->width; x++)
+ {
+ // Find the height at a vertex
+ heights[y*this->width + x] = this->ogreHeightmap->GetHeightAt(
+ Vector2<float>(x*scale.x, y*scale.y));
+
+ if (heights[y*this->width + x] > maxHeight)
+ maxHeight = heights[y*this->width + x];
+ }
+ }
+
+ if (this->collisionShape)
+ delete this->collisionShape;
+
+ // This will force the Z-axis to be up
+ int upIndex = 2;
+ int forwardIndex = 1;
+ int rightIndex = 0;
+
+ btVector3 localScaling(this->terrainSize.x, this->terrainSize.y,
+ this->terrainSize.z );
+
+ this->heightFieldShape = new btHeightfieldTerrainShape( this->width,
+ this->height, heights, maxHeight, upIndex, true, false);
+
+ this->heightFieldShape->setUseDiamondSubdivision(true);
+ this->heightFieldShape->setLocalScaling(localScaling);
+
+ this->collisionShape = this->heightFieldShape;
}
////////////////////////////////////////////////////////////////////////////////
/// Load the heightmap
void BulletHeightmapGeom::Load(XMLConfigNode *node)
{
+
+ Image tmpImage;
+
+ this->imageFilenameP->Load(node);
+ this->worldTextureP->Load(node);
+ this->detailTextureP->Load(node);
+ this->sizeP->Load(node);
+ this->offsetP->Load(node);
+
+ // Use the image to get the size of the heightmap
+ tmpImage.Load( (**this->imageFilenameP) );
+
+ // Width and height must be the same
+ if (tmpImage.GetWidth() != tmpImage.GetHeight())
+ {
+ gzthrow("Heightmap image must be square\n");
+ }
+
+ this->width = this->height = tmpImage.GetWidth();
+
+ this->terrainSize = (**this->sizeP);
+
+ // Step 1: Create the Ogre height map: Performs a ray scene query
+ this->ogreHeightmap->Load( (**this->imageFilenameP), (**this->worldTextureP),
+ (**this->detailTextureP), this->terrainSize );
+
+ // Step 2: Fill the bullet heightmap
+ this->FillHeightMap();
+
BulletGeom::Load(node);
}
Modified:
code/gazebo/branches/bullet/server/physics/bullet/BulletHeightmapGeom.hh
===================================================================
--- code/gazebo/branches/bullet/server/physics/bullet/BulletHeightmapGeom.hh
2009-05-29 09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/bullet/BulletHeightmapGeom.hh
2009-05-29 13:08:16 UTC (rev 7739)
@@ -24,12 +24,16 @@
* CVS: $Id: BulletHeightmapGeom.hh 7640 2009-05-13 02:06:08Z natepak $
*/
-#ifndef BulletHEIGHTMAPGEOM_HH
-#define BulletHEIGHTMAPGEOM_HH
+#ifndef BULLETHEIGHTMAPGEOM_HH
+#define BULLETHEIGHTMAPGEOM_HH
+//#include <btBulletDynamicsCommon.h>
+//#include <btBulletCollisionCommon.h>
#include "Vector2.hh"
#include "BulletGeom.hh"
+class btHeightfieldTerrainShape;
+
namespace gazebo
{
class OgreHeightmap;
@@ -96,8 +100,6 @@
private: Vector3 terrainSize;
- private: std::vector<double> heights;
-
private: ParamT<std::string> *imageFilenameP;
private: ParamT<std::string> *worldTextureP;
private: ParamT<std::string> *detailTextureP;
@@ -105,6 +107,9 @@
private: ParamT<Vector3> *offsetP;
private: OgreHeightmap *ogreHeightmap;
+
+ private: int width, height;
+ private: btHeightfieldTerrainShape* heightFieldShape;
};
/// \}
Modified: code/gazebo/branches/bullet/server/physics/bullet/BulletMotionState.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/bullet/BulletMotionState.cc
2009-05-29 09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/bullet/BulletMotionState.cc
2009-05-29 13:08:16 UTC (rev 7739)
@@ -116,10 +116,15 @@
newPose.pos.Set( origin.x(), origin.y(), origin.z() );
newPose.rot.Set( rot.w(), rot.x(), rot.y(), rot.z() );
+ Quatern qrot;
+ qrot.SetFromEuler(Vector3(-180,0,0));
+ newPose.rot = newPose.rot + qrot;
- std::cout << "New Rot[" << newPose.rot << "] OldRo[" << this->pose.rot <<
"]\n";
+ /*std::cout << "Old Pose[" << this->pose << "] New Pose["
+ << pose << "]\n";
+ */
this->pose = newPose;
- this->visual->SetPose(this->pose * this->comOffset);
+ this->visual->SetPose(newPose);//this->pose * this->comOffset);
}
Modified: code/gazebo/branches/bullet/server/physics/bullet/BulletPhysics.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/bullet/BulletPhysics.cc
2009-05-29 09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/bullet/BulletPhysics.cc
2009-05-29 13:08:16 UTC (rev 7739)
@@ -32,8 +32,6 @@
#include "BulletBoxGeom.hh"
#include "BulletCylinderGeom.hh"
#include "BulletTrimeshGeom.hh"
-#include "BulletHeightmapGeom.hh"
-#include "BulletMapGeom.hh"
#include "PhysicsFactory.hh"
#include "Mass.hh"
@@ -178,7 +176,7 @@
/// Create a new geom
Geom *BulletPhysics::CreateGeom(const std::string &type, Entity *parent)
{
- BulletGeom *geom = NULL;
+ Geom *geom = NULL;
BulletBody *body = NULL;
body = dynamic_cast<BulletBody*>(parent);
@@ -196,8 +194,10 @@
geom = new BulletCylinderGeom(body);
else
{
- gzerr(0) << "Unknown geom of type[" << type << "]\n";
- geom = NULL;
+ geom = PhysicsEngine::CreateGeom(type, parent);
+
+ if (geom == NULL)
+ gzthrow("Unknown Geometry Type["+type+"]");
}
return geom;
Modified: code/gazebo/branches/bullet/server/physics/bullet/CMakeLists.txt
===================================================================
--- code/gazebo/branches/bullet/server/physics/bullet/CMakeLists.txt
2009-05-29 09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/bullet/CMakeLists.txt
2009-05-29 13:08:16 UTC (rev 7739)
@@ -13,7 +13,6 @@
BulletBoxGeom.cc
BulletCylinderGeom.cc
BulletHeightmapGeom.cc
- BulletMapGeom.cc
BulletPlaneGeom.cc
BulletRayGeom.cc
BulletSphereGeom.cc
Modified: code/gazebo/branches/bullet/server/physics/ode/CMakeLists.txt
===================================================================
--- code/gazebo/branches/bullet/server/physics/ode/CMakeLists.txt
2009-05-29 09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/ode/CMakeLists.txt
2009-05-29 13:08:16 UTC (rev 7739)
@@ -14,7 +14,6 @@
ODEBoxGeom.cc
ODECylinderGeom.cc
ODEHeightmapGeom.cc
- ODEMapGeom.cc
ODEPlaneGeom.cc
ODERayGeom.cc
ODESphereGeom.cc
Modified: code/gazebo/branches/bullet/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/bullet/server/physics/ode/ODEPhysics.cc
2009-05-29 09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/physics/ode/ODEPhysics.cc
2009-05-29 13:08:16 UTC (rev 7739)
@@ -41,7 +41,6 @@
#include "ODEBoxGeom.hh"
#include "ODECylinderGeom.hh"
#include "ODEHeightmapGeom.hh"
-#include "ODEMapGeom.hh"
#include "ODEPlaneGeom.hh"
#include "ODESphereGeom.hh"
#include "ODETrimeshGeom.hh"
@@ -323,14 +322,12 @@
parent->SetStatic(true);
geom = new ODEHeightmapGeom(body);
}
- else if (type == "map")
- {
- parent->SetStatic(true);
- geom = new ODEMapGeom(body);
- }
else
{
- gzthrow("Unknown Geometry Type["+type+"]");
+ Geom *myGeom = PhysicsEngine::CreateGeom(type, parent);
+
+ if (myGeom == NULL)
+ gzthrow("Unknown Geometry Type["+type+"]");
}
geom->SetSpaceId( body->GetSpaceId() );
Modified: code/gazebo/branches/bullet/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/branches/bullet/server/rendering/OgreCreator.cc 2009-05-29
09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/rendering/OgreCreator.cc 2009-05-29
13:08:16 UTC (rev 7739)
@@ -747,7 +747,7 @@
(*iter)->Update();
}
- {
+ /*{
boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMutex());
// Update the visuals
for (viter = this->visuals.begin(); viter != this->visuals.end(); viter++)
@@ -767,7 +767,7 @@
else
vis->SetPose(owner->GetPose() - owner->GetParent()->GetPose());
}
- }
+ }*/
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/bullet/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/branches/bullet/server/rendering/OgreVisual.cc 2009-05-29
09:33:48 UTC (rev 7738)
+++ code/gazebo/branches/bullet/server/rendering/OgreVisual.cc 2009-05-29
13:08:16 UTC (rev 7739)
@@ -186,7 +186,7 @@
obj->setVisibilityFlags(GZ_ALL_CAMERA);
// Set the pose of the scene node
- this->SetPose(pose);
+ //this->SetPose(pose);
// Get the size of the mesh
if (obj)
@@ -614,6 +614,7 @@
return;
this->sceneNode->setPosition(pos.x, pos.y, pos.z);
+ this->sceneNode->needUpdate(true);
}
////////////////////////////////////////////////////////////////////////////////
@@ -630,6 +631,7 @@
return;
this->sceneNode->setOrientation(rot.u, rot.x, rot.y, rot.z);
+ this->sceneNode->needUpdate(true);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/bullet/worlds/bullet.world
===================================================================
--- code/gazebo/branches/bullet/worlds/bullet.world 2009-05-29 09:33:48 UTC
(rev 7738)
+++ code/gazebo/branches/bullet/worlds/bullet.world 2009-05-29 13:08:16 UTC
(rev 7739)
@@ -15,7 +15,7 @@
<verbosity>5</verbosity>
<physics:bullet>
- <stepTime>0.001</stepTime>
+ <stepTime>0.00001</stepTime>
<gravity>0 0 -9.8</gravity>
</physics:bullet>
@@ -35,13 +35,13 @@
</rendering:ogre>
<model:physical name="sphere1_model">
- <xyz>1 0 2.5</xyz>
+ <xyz>1.5 0 1.5</xyz>
<rpy>0.0 0.0 0.0</rpy>
<static>false</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
- <xyz>0 0 0</xyz>
+ <xyz>0.0 0.1 0.5</xyz>
<size>0.2</size>
<mass>1</mass>
@@ -54,10 +54,11 @@
</visual>
</geom:sphere>
- <geom:sphere name="sphere2_geom">
- <xyz>-0.5 0 -0.8</xyz>
+ <!--<geom:sphere name="sphere2_geom">
+ <xyz>0.4 0.0 0.8</xyz>
<size>0.1</size>
- <mass>.1</mass>
+ <mass>10</mass>
+
<mu1>109999.0</mu1>
<visual>
<size>0.2 0.2 0.2</size>
@@ -65,7 +66,8 @@
<material>Gazebo/Rocky</material>
</visual>
</geom:sphere>
-
+ -->
+
</body:sphere>
</model:physical>
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