Revision: 8051
http://playerstage.svn.sourceforge.net/playerstage/?rev=8051&view=rev
Author: rtv
Date: 2009-07-18 22:28:35 +0000 (Sat, 18 Jul 2009)
Log Message:
-----------
applied Toby's patch 2810731 improving player graphicsXD support
Modified Paths:
--------------
code/stage/trunk/libstage/color.cc
code/stage/trunk/libstageplugin/CMakeLists.txt
code/stage/trunk/libstageplugin/p_driver.cc
code/stage/trunk/libstageplugin/p_driver.h
code/stage/trunk/libstageplugin/p_graphics2d.cc
code/stage/trunk/libstageplugin/p_graphics3d.cc
code/stage/trunk/worlds/SFU.world
code/stage/trunk/worlds/pioneer_flocking.world
code/stage/trunk/worlds/simple.cfg
Modified: code/stage/trunk/libstage/color.cc
===================================================================
--- code/stage/trunk/libstage/color.cc 2009-07-17 15:17:05 UTC (rev 8050)
+++ code/stage/trunk/libstage/color.cc 2009-07-18 22:28:35 UTC (rev 8051)
@@ -31,8 +31,8 @@
return; // red
static FILE *file = NULL;
- static GHashTable* table = g_hash_table_new( g_str_hash, g_str_equal );
-
+ static std::map<std::string,Color> table;
+
if( file == NULL )
{
std::string rgbFile = FileManager::findFile( "rgb.txt" );
@@ -69,28 +69,22 @@
int chars_matched = 0;
sscanf( line, "%d %d %d %n", &r, &g, &b, &chars_matched
);
- Color* c = new Color( r / 255.0,
- g / 255.0,
- b / 255.0,
- 1.0 );
-
// Read the name
- char* colorname = strdup( line + chars_matched );
-
+ const char* colorname = line + chars_matched;
+
// map the name to the color in the table
- g_hash_table_insert( table, (gpointer)colorname,
(gpointer)c );
+ table[colorname] = Color( r/255.0, g/255.0, b/255.0 );
}
- fclose(file);
+ fclose(file);
}
- // look up the colorname in the database
- //stg_color_t* found = (stg_color_t*)g_hash_table_lookup( table, name );
+ // look up the colorname in the database
+ Color& found = table[name];
- Color* found = (Color*)g_hash_table_lookup( table, name );
- this->r = found->r;
- this->g = found->g;
- this->b = found->b;
- this->a = found->a;
+ this->r = found.r;
+ this->g = found.g;
+ this->b = found.b;
+ this->a = found.a;
}
bool Color::operator==( const Color& other )
Modified: code/stage/trunk/libstageplugin/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstageplugin/CMakeLists.txt 2009-07-17 15:17:05 UTC
(rev 8050)
+++ code/stage/trunk/libstageplugin/CMakeLists.txt 2009-07-18 22:28:35 UTC
(rev 8051)
@@ -15,12 +15,10 @@
p_speech.cc
p_aio.cc
p_dio.cc
+ p_graphics.cc
stg_time.cc
)
-# TODO
-# p_graphics3d.cc
-
add_library( stageplugin MODULE ${stagepluginSrcs} )
Modified: code/stage/trunk/libstageplugin/p_driver.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_driver.cc 2009-07-17 15:17:05 UTC (rev
8050)
+++ code/stage/trunk/libstageplugin/p_driver.cc 2009-07-18 22:28:35 UTC (rev
8051)
@@ -350,13 +350,13 @@
// ifsrc = new InterfaceCamera( player_addr, this, cf, section
);
// break;
- // case PLAYER_GRAPHICS2D_CODE:
- // ifsrc = new InterfaceGraphics2d( player_addr, this, cf,
section );
- // break;
+ case PLAYER_GRAPHICS2D_CODE:
+ ifsrc = new InterfaceGraphics2d( player_addr, this, cf,
section );
+ break;
- // case PLAYER_GRAPHICS3D_CODE:
- // ifsrc = new InterfaceGraphics3d( player_addr, this,
cf, section );
- // break;
+ case PLAYER_GRAPHICS3D_CODE:
+ ifsrc = new InterfaceGraphics3d( player_addr, this, cf,
section );
+ break;
@@ -480,7 +480,7 @@
// subscribe to a device
-int StgDriver::Subscribe(player_devaddr_t addr)
+int StgDriver::Subscribe(QueuePointer &queue,player_devaddr_t addr)
{
if( addr.interf == PLAYER_SIMULATION_CODE )
return 0; // ok
@@ -489,7 +489,8 @@
if( device )
{
- device->Subscribe();
+ device->Subscribe();
+ device->Subscribe(queue);
return Driver::Subscribe(addr);
}
@@ -499,7 +500,7 @@
// unsubscribe to a device
-int StgDriver::Unsubscribe(player_devaddr_t addr)
+int StgDriver::Unsubscribe(QueuePointer &queue,player_devaddr_t addr)
{
if( addr.interf == PLAYER_SIMULATION_CODE )
return 0; // ok
@@ -508,7 +509,8 @@
if( device )
{
- device->Unsubscribe();
+ device->Unsubscribe();
+ device->Unsubscribe(queue);
return Driver::Unsubscribe(addr);
}
else
Modified: code/stage/trunk/libstageplugin/p_driver.h
===================================================================
--- code/stage/trunk/libstageplugin/p_driver.h 2009-07-17 15:17:05 UTC (rev
8050)
+++ code/stage/trunk/libstageplugin/p_driver.h 2009-07-18 22:28:35 UTC (rev
8051)
@@ -30,8 +30,8 @@
virtual int ProcessMessage(QueuePointer &resp_queue,
player_msghdr * hdr,
void * data);
- virtual int Subscribe(player_devaddr_t addr);
- virtual int Unsubscribe(player_devaddr_t addr);
+ virtual int Subscribe(QueuePointer &queue, player_devaddr_t addr);
+ virtual int Unsubscribe(QueuePointer &queue, player_devaddr_t addr);
/// The server thread calls this method frequently. We use it to
/// check for new commands and configs
@@ -77,9 +77,10 @@
virtual void Publish( void ){}; // do nothing
virtual void Subscribe( void ){}; // do nothing
virtual void Unsubscribe( void ){}; // do nothing
+ virtual void Subscribe( QueuePointer &queue ){}; // do nothing
+ virtual void Unsubscribe( QueuePointer &queue ){}; // do nothing};
};
-
class InterfaceSimulation : public Interface
{
public:
@@ -314,27 +315,38 @@
void * data );
};
+class PlayerGraphics2dVis;
+class InterfaceGraphics2d : public InterfaceModel
+{
+ public:
+ InterfaceGraphics2d( player_devaddr_t addr, StgDriver* driver, ConfigFile*
cf, int section );
+ virtual ~InterfaceGraphics2d( void );
+
+ void Subscribe(QueuePointer &queue);
+ void Unsubscribe(QueuePointer &queue);
+
+ virtual int ProcessMessage( QueuePointer & resp_queue,
+ player_msghdr * hdr,
+ void * data );
+
+ PlayerGraphics2dVis * vis;
+};
+
+class PlayerGraphics3dVis;
class InterfaceGraphics3d : public InterfaceModel
{
public:
InterfaceGraphics3d( player_devaddr_t addr, StgDriver* driver, ConfigFile*
cf, int section );
virtual ~InterfaceGraphics3d( void );
+ void Subscribe(QueuePointer &queue);
+ void Unsubscribe(QueuePointer &queue);
+
virtual int ProcessMessage( QueuePointer & resp_queue,
player_msghdr * hdr,
void * data );
- virtual void Publish( void );
- private:
-
- void StoreCommand( int type, void* data );
-
- GList* commands; // list of drawing commands received since the last CLEAR
- bool rebuild_displaylist;
- int displaylist;
-
- // clear the display
- void Clear( void );
+ PlayerGraphics3dVis * vis;
};
/** Replaces Player's real time clock object */
Modified: code/stage/trunk/libstageplugin/p_graphics2d.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_graphics2d.cc 2009-07-17 15:17:05 UTC
(rev 8050)
+++ code/stage/trunk/libstageplugin/p_graphics2d.cc 2009-07-18 22:28:35 UTC
(rev 8051)
@@ -1,192 +0,0 @@
-/*
- * Player - One Hell of a Robot Server
- * Copyright (C) 2004, 2005 Richard Vaughan
- *
- *
- * 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: A plugin driver for Player that gives access to Stage devices.
- * Author: Richard Vaughan
- * Date: 10 December 2004
- * CVS: $Id: p_graphics2d.cc,v 1.2 2008-01-15 01:25:42 rtv Exp $
- */
-
-#include "p_driver.h"
-
-#include <iostream>
-using namespace std;
-
-stg_rtk_fig_t* stg_model_get_fig( stg_model_t* mod, const char* figname );
-stg_rtk_fig_t* stg_model_fig_create( stg_model_t* mod,
- const char* figname,
- const char* parentname,
- int layer );
-
-
-// DOCUMENTATION ------------------------------------------------------------
-
-/** @addtogroup player
-...@par Graphics2d interface
-- PLAYER_GRAPHICS2D_CMD_CLEAR
-- PLAYER_GRAPHICS2D_CMD_POINTS
-- PLAYER_GRAPHICS2D_CMD_POLYLINE
-- PLAYER_GRAPHICS2D_CMD_POLYGON
-*/
-
-static unsigned int rgb32_pack( player_color_t *pcol )
-{
- unsigned int col=0;
- col = pcol->red << 16;
- col += pcol->green << 8;
- col += pcol->blue;
- return col;
-}
-
-InterfaceGraphics2d::InterfaceGraphics2d( player_devaddr_t addr,
- StgDriver* driver,
- ConfigFile* cf,
- int section )
- : InterfaceModel( addr, driver, cf, section, NULL )
-{
- // get or create a nice clean figure for drawing
- this->fig = stg_model_get_fig( mod, "g2d_fig" );
-
- if( ! this->fig )
- this->fig = stg_model_fig_create( mod, "g2d_fig", "top", 99 );
-
- stg_rtk_fig_clear( this->fig );
-
- list = NULL;
-}
-
-InterfaceGraphics2d::~InterfaceGraphics2d( void )
-{
- Clear();
-}
-
-void InterfaceGraphics2d::Clear( void )
-{
- stg_rtk_fig_clear( this->fig );
-
- // delete all drawlist entries
- // delete drawlist
- list = NULL;
-}
-
-int InterfaceGraphics2d::ProcessMessage(MessageQueue* resp_queue,
- player_msghdr_t* hdr,
- void* data)
-{
- // printf( "Stage graphics2d interface processing message\n" );
-
- if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS2D_CMD_CLEAR,
- this->addr))
- {
- Clear();
- return 0; //ok
- }
-
- if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS2D_CMD_POINTS,
- this->addr))
- {
- player_graphics2d_cmd_points_t* pcmd =
- (player_graphics2d_cmd_points_t*)data;
-
- stg_rtk_fig_color_rgb32( this->fig, rgb32_pack( &pcmd->color) );
-
- for(unsigned int p=0; p<pcmd->points_count; p++ )
- {
- //printf( "g2d: Drawing point %.2f %.2f\n", pcmd->points[p].px,
pcmd->points[p].py );
- stg_rtk_fig_point( this->fig,
- pcmd->points[p].px,
- pcmd->points[p].py );
- }
- return 0; //ok
- }
-
- if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS2D_CMD_POLYLINE,
- this->addr))
- {
- player_graphics2d_cmd_polyline_t* pcmd =
- (player_graphics2d_cmd_polyline_t*)data;
-
- stg_rtk_fig_color_rgb32( this->fig, rgb32_pack( &pcmd->color) );
-
- if( pcmd->points_count > 1 )
- for(unsigned int p=0; p<pcmd->points_count-1; p++ )
- {
- //printf( "g2d: Drawing polyline section from [%.2f,%.2f] to
[%.2f,%.2f]\n",
- // pcmd->points[p].px, pcmd->points[p].py,
- // pcmd->points[p+1].px, pcmd->points[p+1].py );
-
- stg_rtk_fig_line( this->fig,
- pcmd->points[p].px,
- pcmd->points[p].py,
- pcmd->points[p+1].px,
- pcmd->points[p+1].py );
- }
- else
- PRINT_WARN( "refusing to draw a polyline with < 2 points" );
-
- return 0; //ok
- }
-
- if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS2D_CMD_POLYGON,
- this->addr))
- {
- player_graphics2d_cmd_polygon_t* pcmd =
- (player_graphics2d_cmd_polygon_t*)data;
-
-
- double pts[PLAYER_GRAPHICS2D_MAX_POINTS][2];
-
- for(unsigned int p=0; p<pcmd->points_count; p++ )
- {
- pts[p][0] = pcmd->points[p].px;
- pts[p][1] = pcmd->points[p].py;
- }
-
- //printf( "g2d: Drawing polygon of %d points\n", pcmd->count );
-
- if( pcmd->filled )
- {
- stg_rtk_fig_color_rgb32( this->fig, rgb32_pack( &pcmd->fill_color));
- stg_rtk_fig_polygon( this->fig,
- 0,0,0,
- pcmd->points_count,
- pts,
- TRUE );
- }
-
- stg_rtk_fig_color_rgb32( this->fig, rgb32_pack( &pcmd->color) );
- stg_rtk_fig_polygon( this->fig,
- 0,0,0,
- pcmd->points_count,
- pts,
- FALSE );
- return 0; //ok
- }
-
- PLAYER_WARN2("stage graphics2d doesn't support message %d:%d.",
- hdr->type, hdr->subtype );
- return -1;
-}
Modified: code/stage/trunk/libstageplugin/p_graphics3d.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_graphics3d.cc 2009-07-17 15:17:05 UTC
(rev 8050)
+++ code/stage/trunk/libstageplugin/p_graphics3d.cc 2009-07-18 22:28:35 UTC
(rev 8051)
@@ -1,322 +0,0 @@
-/*
- * Stage
- * Copyright (C) Richard Vaughan
- *
- * 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: A plugin driver for Player that gives access to Stage devices.
- * Author: Richard Vaughan
- * Date: 10 December 2004
- * CVS: $Id: p_graphics3d.cc,v 1.2 2008-01-15 01:25:42 rtv Exp $
- */
-
-#include "p_driver.h"
-
-#include <iostream>
-using namespace std;
-
-#ifdef G_OS_WIN32
-#define WIN32_LEAN_AND_MEAN 1
-#include <windows.h>
-#endif
-
-//extern GList* dl_list;
-
-// DOCUMENTATION ------------------------------------------------------------
-
-/** @addtogroup player
-...@par Graphics3d interface
-- PLAYER_GRAPHICS3D_CMD_CLEAR
-- PLAYER_GRAPHICS3D_CMD_DRAW
-- PLAYER_GRAPHICS3D_CMD_TRANSLATE
-- PLAYER_GRAPHICS3D_CMD_ROTATE
-*/
-
-typedef struct
-{
- int type;
- void* data;
-} cmd_record_t;
-
-
-InterfaceGraphics3d::InterfaceGraphics3d( player_devaddr_t addr,
- StgDriver* driver,
- ConfigFile* cf,
- int section )
- : InterfaceModel( addr, driver, cf, section, MODEL_TYPE_PLAIN )
-{
- // data members
- commands = NULL;
- displaylist = glGenLists( 1 );
-
- //printf( "allocated dl %d\n", displaylist );
-
- rebuild_displaylist = FALSE;
-
- //dl_list = g_list_append( dl_list, (void*)displaylist );
-}
-
-InterfaceGraphics3d::~InterfaceGraphics3d( void )
-{
- Clear();
- glDeleteLists( displaylist, 1 );
-}
-
-void InterfaceGraphics3d::Clear( void )
-{
- // empty the list of drawing commands
- GList* it;
- for( it=commands; it; it=it->next )
- {
- cmd_record_t* rec = (cmd_record_t*)it->data;
-
- assert(rec);
-
- if( rec->data )
- g_free( rec->data );
-
- g_free( rec );
- }
-
- g_list_free( commands );
- commands = NULL;
-
- // empty the display list
- //puts( "CLEARING DISPLAYLIST" );
- glNewList( displaylist, GL_COMPILE );
- glEndList();
-}
-
-void InterfaceGraphics3d::StoreCommand( int type, void* cmd )
-{
- cmd_record_t* rec = g_new( cmd_record_t, 1 );
- rec->type = type;
- rec->data = cmd;
-
- // store this command
- commands = g_list_append( commands, rec );
-
- // trigger display list update on next Publish()
- rebuild_displaylist = TRUE;
-}
-
-int InterfaceGraphics3d::ProcessMessage( QueuePointer & resp_queue,
- player_msghdr_t* hdr,
- void* data)
-{
- // TODO queue *all* commands so that tranformations and clearing are
- // done synchronously
-
- // test for drawing commands first because they are the most common
- // by far and we avoid lots of tests
-
- // THESE COMMANDS HAVE A DATA PAYLOAD
-
- if( Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS3D_CMD_DRAW,
- this->addr) )
- {
- StoreCommand( PLAYER_GRAPHICS3D_CMD_DRAW,
- g_memdup( data, sizeof(player_graphics3d_cmd_draw_t)));;
- return 0; //ok
- }
-
- if( Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS3D_CMD_ROTATE,
- this->addr) )
- {
- StoreCommand( PLAYER_GRAPHICS3D_CMD_ROTATE,
- g_memdup( data, sizeof(player_graphics3d_cmd_rotate_t)));;
- return 0; //ok
- }
-
- if( Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS3D_CMD_TRANSLATE,
- this->addr) )
- {
- StoreCommand( PLAYER_GRAPHICS3D_CMD_TRANSLATE,
- g_memdup( data,
sizeof(player_graphics3d_cmd_translate_t)));;
- return 0; //ok
- }
-
- // THESE COMMANDS HAVE NO DATA ATTACHED
-
- if( Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS3D_CMD_PUSH,
- this->addr) )
- {
- StoreCommand( PLAYER_GRAPHICS3D_CMD_PUSH, NULL );
- return 0; //ok
- }
-
- if( Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS3D_CMD_POP,
- this->addr) )
- {
- StoreCommand( PLAYER_GRAPHICS3D_CMD_POP, NULL );
- return 0; //ok
- }
-
- if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
- PLAYER_GRAPHICS3D_CMD_CLEAR,
- this->addr) )
- {
- Clear(); // empties the display list immediately
- return 0; //ok
- }
-
- PLAYER_WARN2("stage graphics3d doesn't support message %d:%d.",
- hdr->type, hdr->subtype );
- return -1;
-}
-
-void InterfaceGraphics3d::Publish( void )
-{
- // rebuild this device's OpenGL display list
-
- if( rebuild_displaylist )
- {
- //printf( "rebuilding display list %d commands\n",
- // g_list_length(commands) );
-
- // execute the commands
- glNewList( displaylist, GL_COMPILE );
-
- // move into the relevant model's coordinate frame
- Pose gpose = mod->GetGlobalPose();
-
- glPushMatrix();
- glTranslatef( gpose.x, gpose.y, 0 );
- glRotatef( RTOD(gpose.a), 0,0,1 ); // z-axis rotation
-
- // as long as there's anything on the queue
- GList* it;
- for( it=commands; it; it=it->next )
- {
- cmd_record_t* rec = (cmd_record_t*)it->data;
-
- switch( rec->type )
- {
- case PLAYER_GRAPHICS3D_CMD_CLEAR:
- PRINT_ERR( "clear commands are not supposed to get here" );
- break;
-
- case PLAYER_GRAPHICS3D_CMD_PUSH:
- case PLAYER_GRAPHICS3D_CMD_POP:
- puts( "pushing and popping not yet implemented" );
- break;
-
- case PLAYER_GRAPHICS3D_CMD_TRANSLATE:
- {
- player_graphics3d_cmd_translate_t* cmd =
- (player_graphics3d_cmd_translate_t*)rec->data;
- //printf( "TRANSLATE [%.2f,%.2f,%.2f]n", cmd->x, cmd->y, cmd->z
);
- glTranslatef( cmd->x, cmd->y, cmd->z );
- g_free( cmd );
- }
- break;
-
- case PLAYER_GRAPHICS3D_CMD_ROTATE:
- {
- player_graphics3d_cmd_rotate_t* cmd =
- (player_graphics3d_cmd_rotate_t*)rec->data;
- //printf( "ROTATE %.2f radians about [%.2f,%.2f,%.2f]n",
- //cmd->a, cmd->x, cmd->y, cmd->z );
- glRotatef( RTOD(cmd->a), cmd->x, cmd->y, cmd->z );
- g_free( cmd );
- }
- break;
-
- case PLAYER_GRAPHICS3D_CMD_DRAW:
- {
-
- player_graphics3d_cmd_draw_t* cmd =
- (player_graphics3d_cmd_draw_t*)rec->data;
-
- //printf( "DRAW mode %d with %d points\n",
- //cmd->draw_mode, cmd->points_count );
-
- // player color elements are uint8_t type
- glColor4ub( cmd->color.red,
- cmd->color.green,
- cmd->color.blue,
- cmd->color.alpha );
-
- switch( cmd->draw_mode )
- {
- case PLAYER_DRAW_POINTS:
- glPointSize( 3 );
- glBegin( GL_POINTS );
- break;
- case PLAYER_DRAW_LINES:
- glBegin( GL_LINES );
- break;
- case PLAYER_DRAW_LINE_STRIP:
- glBegin( GL_LINE_STRIP );
- break;
- case PLAYER_DRAW_LINE_LOOP:
- glBegin( GL_LINE_LOOP );
- break;
- case PLAYER_DRAW_TRIANGLES:
- glBegin( GL_TRIANGLES );
- break;
- case PLAYER_DRAW_TRIANGLE_STRIP:
- glBegin( GL_TRIANGLE_STRIP );
- break;
- case PLAYER_DRAW_TRIANGLE_FAN:
- glBegin( GL_TRIANGLE_FAN );
- break;
- case PLAYER_DRAW_QUADS:
- glBegin( GL_QUADS );
- break;
- case PLAYER_DRAW_QUAD_STRIP:
- glBegin( GL_QUAD_STRIP );
- break;
- case PLAYER_DRAW_POLYGON:
- glBegin( GL_POLYGON );
- break;
-
- default:
- PRINT_WARN1( "drawing mode %d not handled",
- cmd->draw_mode );
- }
-
- unsigned int c;
- for( c=0; c<cmd->points_count; c++ )
- glVertex3f( cmd->points[c].px,
- cmd->points[c].py,
- cmd->points[c].pz );
-
- glEnd();
- }
- break;
-
- default:
- PRINT_WARN1( "Unrecognized graphics command type %d\n",
- rec->type );
- }
- }
-
- glPopMatrix(); // drop out of the model's CS
- glEndList();
-
- //puts("");
-
- rebuild_displaylist = FALSE;
- }
-}
Modified: code/stage/trunk/worlds/SFU.world
===================================================================
--- code/stage/trunk/worlds/SFU.world 2009-07-17 15:17:05 UTC (rev 8050)
+++ code/stage/trunk/worlds/SFU.world 2009-07-18 22:28:35 UTC (rev 8051)
@@ -9,14 +9,10 @@
interval_sim 100 # simulation timestep in milliseconds
interval_real 0 # real-time interval between simulation updates in
milliseconds
-quit_time 1
-
paused 0
-
resolution 0.1
+threads 0
-threads 7
-
# configure the GUI window
window
(
Modified: code/stage/trunk/worlds/pioneer_flocking.world
===================================================================
--- code/stage/trunk/worlds/pioneer_flocking.world 2009-07-17 15:17:05 UTC
(rev 8050)
+++ code/stage/trunk/worlds/pioneer_flocking.world 2009-07-18 22:28:35 UTC
(rev 8051)
@@ -13,7 +13,7 @@
# low resolution gives fast raytracing. set this only as small as you need for
your application
resolution 0.1
-# this is very helpful if you have multiple CPUs - a good value is <number of
CPU cores> - 1
+# this is very helpful if you have multiple CPUs - a good value is <number of
CPU cores> -
# threads 7
# configure the GUI window
Modified: code/stage/trunk/worlds/simple.cfg
===================================================================
--- code/stage/trunk/worlds/simple.cfg 2009-07-17 15:17:05 UTC (rev 8050)
+++ code/stage/trunk/worlds/simple.cfg 2009-07-18 22:28:35 UTC (rev 8051)
@@ -22,7 +22,7 @@
driver
(
name "stage"
- provides [ "position2d:0" "laser:0" "speech:0" ]
+ provides [ "position2d:0" "laser:0" "speech:0" "graphics2d:0" "graphics3d:0"
]
model "r0"
)
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