Revision: 7906
http://playerstage.svn.sourceforge.net/playerstage/?rev=7906&view=rev
Author: natepak
Date: 2009-06-25 20:34:46 +0000 (Thu, 25 Jun 2009)
Log Message:
-----------
Fixed a path problem with OGRE_RESOURCE_PATH. Added in a cone renderable
Modified Paths:
--------------
code/gazebo/trunk/server/GazeboConfig.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/OgreSimpleShape.cc
code/gazebo/trunk/server/rendering/OgreSimpleShape.hh
code/gazebo/trunk/worlds/simpleshapes.world
Modified: code/gazebo/trunk/server/GazeboConfig.cc
===================================================================
--- code/gazebo/trunk/server/GazeboConfig.cc 2009-06-25 19:56:33 UTC (rev
7905)
+++ code/gazebo/trunk/server/GazeboConfig.cc 2009-06-25 20:34:46 UTC (rev
7906)
@@ -66,7 +66,7 @@
int pos2 = str.find(delim);
while (pos2 != (int)std::string::npos)
{
- this->ogrePaths.push_back(str.substr(pos1,pos2-pos1+1));
+ this->ogrePaths.push_back(str.substr(pos1,pos2-pos1));
pos1 = pos2+1;
pos2 = str.find(delim,pos2+1);
}
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-06-25 19:56:33 UTC
(rev 7905)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-06-25 20:34:46 UTC
(rev 7906)
@@ -310,6 +310,7 @@
{
std::string path(*iter);
DIR *dir=opendir(path.c_str());
+
if (dir == NULL)
{
continue;
@@ -330,7 +331,6 @@
{
// Load the plugin into OGRE
this->root->loadPlugin(*piter);
- //gzmsg(2) << "Loaded plugin:" << (*piter);
}
catch (Ogre::Exception e)
{
@@ -380,7 +380,6 @@
while ( (dir_entry_p = readdir(dir))!=NULL )
{
filename =(*iter)+"/Media/sets/"+ dir_entry_p->d_name;
- //std::cout << filename << std::endl;
archNames.push_back(filename);
}
closedir(dir);
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-06-25 19:56:33 UTC
(rev 7905)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-06-25 20:34:46 UTC
(rev 7906)
@@ -77,6 +77,7 @@
OgreSimpleShape::CreateBox("unit_box_U1V1", Vector3(1,1,1),
Vector2<double>(1,1));
OgreSimpleShape::CreateCylinder("unit_cylinder", 0.5, 1.0, 1, 32);
+ OgreSimpleShape::CreateCone("unit_cone", 0.5, 1.0, 5, 32);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/OgreSimpleShape.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreSimpleShape.cc 2009-06-25
19:56:33 UTC (rev 7905)
+++ code/gazebo/trunk/server/rendering/OgreSimpleShape.cc 2009-06-25
20:34:46 UTC (rev 7906)
@@ -558,5 +558,229 @@
{
std::cerr << "Unable to create a basic Unit cylinder object" << std::endl;
}
+}
+////////////////////////////////////////////////////////////////////////////////
+/// Create a cone mesh
+void OgreSimpleShape::CreateCone(const std::string &name, float radius, float
height, int rings, int segments)
+{
+ Ogre::MeshPtr mesh;
+ Ogre::SubMesh *subMesh;
+ Ogre::VertexData *vertexData;
+ Ogre::VertexDeclaration* vertexDecl;
+ Ogre::HardwareVertexBufferSharedPtr vBuf;
+ Ogre::HardwareIndexBufferSharedPtr iBuf;
+ float *vertices, *vertStart;
+ unsigned short *indices, *indStart;
+ Vector3 vert, norm;
+ unsigned short verticeIndex = 0;
+ size_t currOffset = 0;
+ unsigned int i,j;
+ int ring, seg;
+
+ if (segments <3)
+ segments = 3;
+
+ float deltaSegAngle = (2.0 * M_PI / segments);
+
+ try
+ {
+ // Create a new mesh specifically for manual definition.
+ mesh = Ogre::MeshManager::getSingleton().createManual(name,
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+
+ subMesh = mesh->createSubMesh();
+
+ mesh->sharedVertexData = new Ogre::VertexData();
+ vertexData = mesh->sharedVertexData;
+
+ // define the vertex format
+ vertexDecl = vertexData->vertexDeclaration;
+
+ // The vertexDecl should contain positions, blending weights, normals,
+ // diffiuse colors, specular colors, tex coords. In that order.
+
+ // positions
+ vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT3,
Ogre::VES_POSITION);
+ currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
+
+ // TODO: blending weights
+
+ // normals
+ vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT3, Ogre::VES_NORMAL);
+ currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
+
+ // TODO: diffuse colors
+
+ // TODO: specular colors
+
+ // two dimensional texture coordinates
+ vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT2,
+ Ogre::VES_TEXTURE_COORDINATES, 0);
+ currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT2);
+
+
+ // allocate the vertex buffer
+ vertexData->vertexCount = rings * (segments+1) + 2;
+ vBuf = Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
+ vertexDecl->getVertexSize(0),
+ vertexData->vertexCount,
+ Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
+ false);
+
+
+ vertexData->vertexBufferBinding->setBinding(0, vBuf);
+ vertices =
static_cast<float*>(vBuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));
+
+ // allocate index buffer
+ subMesh->indexData->indexCount = 6 * (rings-1) * (segments+1) +
(segments*6);
+ subMesh->indexData->indexBuffer =
+ Ogre::HardwareBufferManager::getSingleton().createIndexBuffer(
+ Ogre::HardwareIndexBuffer::IT_16BIT,
+ subMesh->indexData->indexCount,
+ Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
+ false);
+
+ iBuf = subMesh->indexData->indexBuffer;
+ indices = static_cast<unsigned
short*>(iBuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));
+
+ vertStart = vertices;
+ indStart = indices;
+
+ double ringRadius;
+
+ // Generate the group of rings for the cone
+ for (ring = 0; ring < rings; ring++)
+ {
+ vert.z = ring * height/rings - height/2.0;
+
+ ringRadius = ((height - (vert.z+height/2.0)) / height) * radius;
+
+ // Generate the group of segments for the current ring
+ for (seg = 0; seg <= segments; seg++)
+ {
+ vert.y = ringRadius * cosf(seg * deltaSegAngle);
+ vert.x = ringRadius * sinf(seg * deltaSegAngle);
+
+ // TODO: Don't think these normals are correct.
+ norm = vert;
+ norm.Normalize();
+
+ // Add one vertex to the strip which makes up the sphere
+ *vertices++ = vert.x;
+ *vertices++ = vert.y;
+ *vertices++ = vert.z;
+
+ *vertices++ = norm.x;
+ *vertices++ = norm.y;
+ *vertices++ = norm.z;
+
+ // Texture coords
+ *vertices++ = (float) seg / (float) segments;
+ *vertices++ = (float) ring / (float) rings;
+
+ if (ring != (rings-1))
+ {
+ // each vertex (except the last) has six indices pointing to it
+ *indices++ = verticeIndex + segments + 1;
+ *indices++ = verticeIndex;
+ *indices++ = verticeIndex + segments;
+ *indices++ = verticeIndex + segments + 1;
+ *indices++ = verticeIndex + 1;
+ *indices++ = verticeIndex;
+
+ verticeIndex++;
+ }
+ }
+ }
+
+ /// The top point vertex
+ *vertices++ = 0;
+ *vertices++ = 0;
+ *vertices++ = height/2.0;
+
+ *vertices++ = 0;
+ *vertices++ = 0;
+ *vertices++ = 1;
+
+ *vertices++ = 0;
+ *vertices++ = 0;
+
+
+ // The bottom cap vertex
+ *vertices++ = 0;
+ *vertices++ = 0;
+ *vertices++ = -height/2.0;
+
+ *vertices++ = 0;
+ *vertices++ = 0;
+ *vertices++ = -1;
+
+ *vertices++ = 0;
+ *vertices++ = 0;
+
+ // Create the top fan
+ verticeIndex += segments+1;
+ for (seg=0; seg < segments; seg++)
+ {
+ *indices++ = verticeIndex;
+ *indices++ = verticeIndex - segments + seg;
+ *indices++ = verticeIndex - segments + seg - 1;
+ }
+
+ // Create the bottom fan
+ verticeIndex++;
+ //verticeIndex += segments + 1;
+ for (seg=0; seg < segments; seg++)
+ {
+ *indices++ = verticeIndex;
+ *indices++ = seg;
+ *indices++ = seg+1;
+ }
+
+ // Fix all the normals
+ for (i=0; i+3<subMesh->indexData->indexCount; i+=3)
+ {
+ norm.Set();
+
+ for (j=0; j<3; j++)
+ {
+ int index = indStart[i+j];
+ norm += Vector3(vertStart[index*8+3],
+ vertStart[index*8+4],
+ vertStart[index*8+5]);
+ }
+
+ norm /= 3;
+ norm.Normalize();
+
+ for (j=0; j<3; j++)
+ {
+ for (int k=0; k<3; k++)
+ {
+ int index = indStart[i+j];
+ vertStart[index*8+3+k] = norm[k];
+ }
+ }
+ }
+
+ // Unlock
+ vBuf->unlock();
+ iBuf->unlock();
+
+ // Generate face list
+ subMesh->useSharedVertices = true;
+
+ mesh->_setBounds( Ogre::AxisAlignedBox(
+ Ogre::Vector3(-radius, -height/2, -radius),
+ Ogre::Vector3(radius, height/2, radius)), false);
+
+ // this line makes clear the mesh is loaded (avoids memory leaks)
+ mesh->load();
+ }
+ catch (Ogre::Exception e)
+ {
+ std::cerr << "Unable to create a basic Unit cylinder object" << std::endl;
+ }
+
}
Modified: code/gazebo/trunk/server/rendering/OgreSimpleShape.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreSimpleShape.hh 2009-06-25
19:56:33 UTC (rev 7905)
+++ code/gazebo/trunk/server/rendering/OgreSimpleShape.hh 2009-06-25
20:34:46 UTC (rev 7906)
@@ -28,8 +28,12 @@
const Vector2<double> &uvCoords);
/// \brief Create a cylinder mesh
- public: static void CreateCylinder(const std::string &name, float radius,
float height, int rings, int segments);
+ public: static void CreateCylinder(const std::string &name, float radius,
+ float height, int rings, int segments);
+ /// \brief Create a cone mesh
+ public: static void CreateCone(const std::string &name, float radius,
+ float height, int rings, int segments);
};
/// \}
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2009-06-25 19:56:33 UTC (rev
7905)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2009-06-25 20:34:46 UTC (rev
7906)
@@ -99,6 +99,25 @@
</body:cylinder>
</model:physical>
+ <model:physical name="cone1_model">
+ <xyz>1 -3.5 0.5</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <body:cone name="cone_body">
+ <geom:cylinder name="cylinder_geom">
+ <size>0.5 1</size>
+ <mass>1.0</mass>
+ <mu1>1000.0</mu1>
+
+ <visual>
+ <mesh>unit_cone</mesh>
+ <material>Gazebo/RustyBarrel</material>
+ </visual>
+ </geom:cylinder>
+ </body:cone>
+ </model:physical>
+
+
<!-- Ground Plane -->
<model:physical name="plane1_model">
<xyz>0 0 0</xyz>
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