Revision: 7839
http://playerstage.svn.sourceforge.net/playerstage/?rev=7839&view=rev
Author: natepak
Date: 2009-06-11 03:34:22 +0000 (Thu, 11 Jun 2009)
Log Message:
-----------
Updated all the meshes. Made the bounding boxes and joint visualizations not
cast shadows
Modified Paths:
--------------
code/gazebo/trunk/Media/models/PioneerArm/Base.mesh
code/gazebo/trunk/Media/models/PioneerArm/Gripper.mesh
code/gazebo/trunk/Media/models/PioneerArm/Link01.mesh
code/gazebo/trunk/Media/models/PioneerArm/Link02.mesh
code/gazebo/trunk/Media/models/PioneerArm/Link03.mesh
code/gazebo/trunk/Media/models/PioneerArm/Link04.mesh
code/gazebo/trunk/Media/models/PioneerArm/Link05.mesh
code/gazebo/trunk/Media/models/WoodPallet.mesh
code/gazebo/trunk/Media/models/bandit/bicep.mesh
code/gazebo/trunk/Media/models/bandit/body_model_1.mesh
code/gazebo/trunk/Media/models/bandit/eyebrow.mesh
code/gazebo/trunk/Media/models/bandit/head_1.mesh
code/gazebo/trunk/Media/models/bandit/left_forearm.mesh
code/gazebo/trunk/Media/models/bandit/left_hand.mesh
code/gazebo/trunk/Media/models/bandit/left_shoulder.mesh
code/gazebo/trunk/Media/models/bandit/lowerlip.mesh
code/gazebo/trunk/Media/models/bandit/neck_1.mesh
code/gazebo/trunk/Media/models/bandit/right_forearm.mesh
code/gazebo/trunk/Media/models/bandit/right_hand.mesh
code/gazebo/trunk/Media/models/bandit/right_shoulder.mesh
code/gazebo/trunk/Media/models/bandit/shoulder_mounting_1.mesh
code/gazebo/trunk/Media/models/bandit/thumb.mesh
code/gazebo/trunk/Media/models/bandit/upperlip.mesh
code/gazebo/trunk/Media/models/bandit/wrist.mesh
code/gazebo/trunk/Media/models/column.mesh
code/gazebo/trunk/Media/models/epuck/camera.mesh
code/gazebo/trunk/Media/models/epuck/chassis.mesh
code/gazebo/trunk/Media/models/epuck/plate.mesh
code/gazebo/trunk/Media/models/epuck/ring.mesh
code/gazebo/trunk/Media/models/epuck/turret.mesh
code/gazebo/trunk/Media/models/geosphere4500.mesh
code/gazebo/trunk/Media/models/geosphere8000.mesh
code/gazebo/trunk/Media/models/kitchen.mesh
code/gazebo/trunk/Media/models/knot.mesh
code/gazebo/trunk/Media/models/razor.mesh
code/gazebo/trunk/Media/models/robot.mesh
code/gazebo/trunk/Media/models/sicklms200.mesh
code/gazebo/trunk/Media/models/sonyvid30/sonyvid30_bottom.mesh
code/gazebo/trunk/Media/models/sonyvid30/sonyvid30_mid.mesh
code/gazebo/trunk/Media/models/sonyvid30/sonyvid30_top.mesh
code/gazebo/trunk/Media/models/sphere.mesh
code/gazebo/trunk/Media/models/unitpyramid.mesh
code/gazebo/trunk/Media/models/wheel.mesh
code/gazebo/trunk/examples/libgazebo/factory/factory.cc
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/Joint.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/worlds/factory.world
Modified: code/gazebo/trunk/Media/models/PioneerArm/Base.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/PioneerArm/Gripper.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/PioneerArm/Link01.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/PioneerArm/Link02.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/PioneerArm/Link03.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/PioneerArm/Link04.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/PioneerArm/Link05.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/WoodPallet.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/bicep.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/body_model_1.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/eyebrow.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/head_1.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/left_forearm.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/left_hand.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/left_shoulder.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/lowerlip.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/neck_1.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/right_forearm.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/right_hand.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/right_shoulder.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/shoulder_mounting_1.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/thumb.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/upperlip.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/bandit/wrist.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/column.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/epuck/camera.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/epuck/chassis.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/epuck/plate.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/epuck/ring.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/epuck/turret.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/geosphere4500.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/geosphere8000.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/kitchen.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/knot.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/razor.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/robot.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/sicklms200.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/sonyvid30/sonyvid30_bottom.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/sonyvid30/sonyvid30_mid.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/sonyvid30/sonyvid30_top.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/sphere.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/unitpyramid.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/Media/models/wheel.mesh
===================================================================
(Binary files differ)
Modified: code/gazebo/trunk/examples/libgazebo/factory/factory.cc
===================================================================
--- code/gazebo/trunk/examples/libgazebo/factory/factory.cc 2009-06-11
00:01:41 UTC (rev 7838)
+++ code/gazebo/trunk/examples/libgazebo/factory/factory.cc 2009-06-11
03:34:22 UTC (rev 7839)
@@ -1,6 +1,5 @@
#include <sstream>
#include <gazebo/gazebo.h>
-#include <gazebo/GazeboError.hh>
#include <string.h>
int main()
@@ -16,7 +15,7 @@
{
client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
}
- catch (gazebo::GazeboError e)
+ catch (std::string e)
{
std::cout << "Gazebo error: Unable to connect\n" << e << "\n";
return -1;
@@ -27,7 +26,7 @@
{
simIface->Open(client, "default");
}
- catch (gazebo::GazeboError e)
+ catch (std::string e)
{
std::cout << "Gazebo error: Unable to connect to the sim interface\n" << e
<< "\n";
return -1;
@@ -38,7 +37,7 @@
{
factoryIface->Open(client, "factory_iface");
}
- catch (gazebo::GazeboError e)
+ catch (std::string e)
{
std::cout << "Gazebo error: Unable to connect to the factory interface\n"
<< e << "\n";
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-06-11 00:01:41 UTC (rev
7838)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-06-11 03:34:22 UTC (rev
7839)
@@ -164,6 +164,7 @@
visual->SetIgnorePoseUpdates(true);
this->visuals.push_back(visual);
+ visual->SetCastShadows(true);
}
childNode = childNode->GetNext("visual");
}
@@ -182,6 +183,7 @@
this->bbVisual = OgreCreator::Instance()->CreateVisual(
visname.str(), this->visualNode);
+ this->bbVisual->SetCastShadows(false);
if (this->bbVisual)
{
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2009-06-11 00:01:41 UTC (rev
7838)
+++ code/gazebo/trunk/server/physics/Joint.cc 2009-06-11 03:34:22 UTC (rev
7839)
@@ -142,7 +142,9 @@
visname.str(), NULL);
if (this->visual)
{
+ this->visual->SetCastShadows(false);
this->visual->AttachMesh("joint_anchor");
+ this->visual->SetMaterial("Gazebo/JointAnchor");
this->visual->SetVisible(false);
this->line1 =
OgreCreator::Instance()->CreateDynamicLine(OgreDynamicRenderable::OT_LINE_LIST);
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-06-11 00:01:41 UTC
(rev 7838)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-06-11 03:34:22 UTC
(rev 7839)
@@ -70,7 +70,7 @@
this->dummyDisplay = false;
Param::Begin(&this->parameters);
- this->ambientP = new ParamT<Vector4>("ambient",Vector4(1,1,1,1),0);
+ this->ambientP = new ParamT<Vector4>("ambient",Vector4(.1,.1,.1,1),0);
this->shadowTextureSizeP = new ParamT<int>("shadowTextureSize", 512,0);
this->shadowTechniqueP = new ParamT<std::string>("shadowTechnique",
"stencilAdditive", 0);
this->drawGridP = new ParamT<bool>("grid", true, 0);
Modified: code/gazebo/trunk/worlds/factory.world
===================================================================
--- code/gazebo/trunk/worlds/factory.world 2009-06-11 00:01:41 UTC (rev
7838)
+++ code/gazebo/trunk/worlds/factory.world 2009-06-11 03:34:22 UTC (rev
7839)
@@ -30,7 +30,7 @@
</rendering:gui>
<rendering:ogre>
- <ambient>1.0 1.0 1.0 1.0</ambient>
+ <ambient>0.1 0.1 0.1 1.0</ambient>
<sky>
<material>Gazebo/CloudySky</material>
</sky>
@@ -89,16 +89,17 @@
<!-- White Point light -->
<model:renderable name="directional_white">
+ <xyz>1 1 1</xyz>
<enableGravity>false</enableGravity>
+
<light>
<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>
- <range>100</range>
+ <diffuseColor>0.8 0.8 0.8</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <range>10</range>
<!-- Constant(0-1) Linear(0-1) Quadratic -->
- <attenuation>0.0 1.0 0.4</attenuation>
+ <attenuation>0.2 0.01 0.0</attenuation>
</light>
</model:renderable>
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