Revision: 7831
http://playerstage.svn.sourceforge.net/playerstage/?rev=7831&view=rev
Author: natepak
Date: 2009-06-10 14:12:41 +0000 (Wed, 10 Jun 2009)
Log Message:
-----------
Fixed compile issues
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCreator.hh
code/gazebo/trunk/webgazebo/CMakeLists.txt
code/gazebo/trunk/webgazebo/WebGazebo.hh
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2009-06-10 00:15:16 UTC (rev 7830)
+++ code/gazebo/trunk/CMakeLists.txt 2009-06-10 14:12:41 UTC (rev 7831)
@@ -75,6 +75,8 @@
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR} ${PROJECT_BINARY_DIR})
+message (STATUS "Cmake C Flags:${CMAKE_C_FLAGS}")
+
IF (BUILD_GAZEBO)
ADD_SUBDIRECTORY(libgazebo)
ADD_SUBDIRECTORY(server)
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-06-10 00:15:16 UTC
(rev 7830)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-06-10 14:12:41 UTC
(rev 7831)
@@ -332,18 +332,6 @@
ENDIF (NOT LIBEVENT_PATH)
########################################
-# Find yaml
-SET (libyaml_search_path /usr/include /usr/local/include)
-FIND_PATH(LIBYAML_PATH yaml.h ${libyaml_search_path})
-IF (NOT LIBYAML_PATH)
- MESSAGE (STATUS "Looking for yaml.h - not found")
- MESSAGE (STATUS " Warning: webgazebo will not be built")
- SET (INCLUDE_WEBGAZEBO OFF CACHE BOOL "Found libevent" FORCE)
-ELSE (NOT LIBYAML_PATH)
- MESSAGE (STATUS "Looking for yaml.h - found")
-ENDIF (NOT LIBYAML_PATH)
-
-########################################
# Find profiler library, optional
FIND_LIBRARY(PROFILER "profiler")
IF (PROFILER)
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-06-10 00:15:16 UTC (rev
7830)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-06-10 14:12:41 UTC (rev
7831)
@@ -403,8 +403,6 @@
Vector3 vel;
Vector3 avel;
- double force;
-
#ifdef TIMING
double tmpT1 = Simulator::Instance()->GetWallTime();
#endif
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-06-10 00:15:16 UTC
(rev 7830)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-06-10 14:12:41 UTC
(rev 7831)
@@ -219,9 +219,11 @@
ambient.b = (**(this->ambientP)).z;
ambient.a = (**(this->ambientP)).w;
+ this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_STENCIL_ADDITIVE );
+ this->sceneMgr->setAmbientLight(Ogre::ColourValue(0,0,0));
// Settings for shadow mapping
- if (**(this->shadowTechniqueP) == std::string("stencilAdditive"))
+ /*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 );
@@ -233,8 +235,9 @@
this->sceneMgr->setShadowTechnique( Ogre::SHADOWTYPE_NONE );
else
gzthrow(std::string("Unsupported shadow technique: ") +
**(this->shadowTechniqueP) + "\n");
+ */
- this->sceneMgr->setShadowTextureSelfShadow(true);
+ /*this->sceneMgr->setShadowTextureSelfShadow(true);
this->sceneMgr->setShadowTexturePixelFormat(Ogre::PF_FLOAT16_R);
this->sceneMgr->setShadowTextureSize(**(this->shadowTextureSizeP));
this->sceneMgr->setShadowIndexBufferSize(**(this->shadowIndexSizeP) );
@@ -246,9 +249,10 @@
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"))
+ /*if (node->GetChild("sky"))
{
this->skyMaterialP->Load(node->GetChild("sky"));
OgreCreator::CreateSky(**(this->skyMaterialP));
@@ -275,6 +279,7 @@
exit(-1);
}
}
+ */
// Create our frame listener and register it
this->frameListener = new OgreFrameListener();
Modified: code/gazebo/trunk/server/rendering/OgreCreator.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.hh 2009-06-10 00:15:16 UTC
(rev 7830)
+++ code/gazebo/trunk/server/rendering/OgreCreator.hh 2009-06-10 14:12:41 UTC
(rev 7831)
@@ -26,7 +26,6 @@
#ifndef OGRECREATOR
#define OGRECREATOR
-#include <X11/Xlib.h>
#include <string>
#include <vector>
@@ -43,6 +42,7 @@
}
class Fl_Window;
+typedef struct _XDisplay Display;
namespace gazebo
{
@@ -102,8 +102,8 @@
/// \brief Create a new window
public: Ogre::RenderWindow *CreateWindow(Fl_Window *flWindow,
- unsigned int width,
- unsigned int height);
+ unsigned int width,
+ unsigned int height);
/// \brief Create a window for Ogre
Modified: code/gazebo/trunk/webgazebo/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/webgazebo/CMakeLists.txt 2009-06-10 00:15:16 UTC (rev
7830)
+++ code/gazebo/trunk/webgazebo/CMakeLists.txt 2009-06-10 14:12:41 UTC (rev
7831)
@@ -24,9 +24,9 @@
ADD_EXECUTABLE(webgazebo main.cc)
ADD_EXECUTABLE(client client.cc)
-TARGET_LINK_LIBRARIES( webgz yaml event ${WEBSIM_LINK_LIBS})
-TARGET_LINK_LIBRARIES( webgazebo gazebo yaml event ${WEBSIM_LINK_LIBS}
${boost_libraries} webgz)
-TARGET_LINK_LIBRARIES( client gazebo yaml event ${WEBSIM_LINK_LIBS}
${boost_libraries} webgz)
+TARGET_LINK_LIBRARIES( webgz event ${WEBSIM_LINK_LIBS})
+TARGET_LINK_LIBRARIES( webgazebo gazebo event ${WEBSIM_LINK_LIBS}
${boost_libraries} webgz)
+TARGET_LINK_LIBRARIES( client gazebo event ${WEBSIM_LINK_LIBS}
${boost_libraries} webgz)
INSTALL(TARGETS webgazebo DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
INSTALL(TARGETS webgz DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
Modified: code/gazebo/trunk/webgazebo/WebGazebo.hh
===================================================================
--- code/gazebo/trunk/webgazebo/WebGazebo.hh 2009-06-10 00:15:16 UTC (rev
7830)
+++ code/gazebo/trunk/webgazebo/WebGazebo.hh 2009-06-10 14:12:41 UTC (rev
7831)
@@ -65,6 +65,34 @@
websim::Acceleration& a,
std::string& error);
+ virtual bool GetLaserData(const std::string& name,
+
websim::Time& t,
+
uint32_t& resolution,
+ double&
fov,
+
websim::Pose& p,
+
std::vector<double>& ranges,
+
std::string& response) { return true;}
+
+
+ virtual bool GetRangerData(const std::string& name,
+
websim::Time& t,
+
std::vector<websim::Pose>& p,
+
std::vector<double>& ranges,
+ std::string&
response) {return true;}
+
+
+ virtual bool GetModelExtent(const std::string& name,
+ double&
bx,
+ double&
by,
+ double&
bz,
+
websim::Pose& center,
+
std::string& response) {return true;}
+
+ virtual bool GetNumberOfRobots(unsigned int& n) {return true;}
+
+ virtual bool GetSayStrings(std::vector<std::string>& sayings) {return true;}
+
+
/** Get the current simulation time */
virtual websim::Time GetTime();
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