Revision: 8257
http://playerstage.svn.sourceforge.net/playerstage/?rev=8257&view=rev
Author: natepak
Date: 2009-09-11 02:48:28 +0000 (Fri, 11 Sep 2009)
Log Message:
-----------
Updated saving of the world
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/libgazebo/CMakeLists.txt
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2009-09-09 22:25:27 UTC (rev 8256)
+++ code/gazebo/trunk/CMakeLists.txt 2009-09-11 02:48:28 UTC (rev 8257)
@@ -39,6 +39,8 @@
SET (ODE_VERSION 0.10.1 CACHE INTERNAL "ODE version requirement" FORCE)
SET (MIN_BOOST_VERSION 1.35.0 CACHE INTERNAL "Boost min version requirement"
FORCE)
+SET (ENABLE_BINDINGS OFF CACHE BOOL "Enable libgazebo bindings")
+
SET (gazebo_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH
"Location of CMake scripts")
Modified: code/gazebo/trunk/libgazebo/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/libgazebo/CMakeLists.txt 2009-09-09 22:25:27 UTC (rev
8256)
+++ code/gazebo/trunk/libgazebo/CMakeLists.txt 2009-09-11 02:48:28 UTC (rev
8257)
@@ -12,7 +12,9 @@
${boost_include_dirs}
)
-ADD_SUBDIRECTORY(bindings)
+IF (${ENABLE_BINDINGS})
+ ADD_SUBDIRECTORY(bindings)
+ENDIF (${ENABLE_BINDINGS})
LINK_DIRECTORIES(${boost_library_dirs})
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-09-09 22:25:27 UTC (rev
8256)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-09-11 02:48:28 UTC (rev
8257)
@@ -270,7 +270,7 @@
Model *model = dynamic_cast<Model*>(this->parent);
//Vector3 pose = model->GetPose() - this->GetPose();
- this->xyzP->SetValue( this->GetPose().pos - model->GetPose().pos );
+ this->xyzP->SetValue( this->GetPose().pos );
this->rpyP->SetValue( this->GetRotation() );
stream << prefix << "<body name=\"" << this->nameP->GetValue() << "\">\n";
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-09-09 22:25:27 UTC
(rev 8256)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-09-11 02:48:28 UTC
(rev 8257)
@@ -134,12 +134,16 @@
void ODEPhysics::Save(std::string &prefix, std::ostream &stream)
{
stream << prefix << "<physics:ode>\n";
+ stream << prefix << " " << *(this->stepTimeP) << "\n";
stream << prefix << " " << *(this->gravityP) << "\n";
- stream << prefix << " " << *(this->stepTimeP) << "\n";
stream << prefix << " " << *(this->updateRateP) << "\n";
stream << prefix << " " << *(this->globalCFMP) << "\n";
stream << prefix << " " << *(this->globalERPP) << "\n";
stream << prefix << " " << *(this->quickStepP) << "\n";
+ stream << prefix << " " << *(this->quickStepItersP) << "\n";
+ stream << prefix << " " << *(this->quickStepWP) << "\n";
+ stream << prefix << " " << *(this->contactMaxCorrectingVelP) << "\n";
+ stream << prefix << " " << *(this->contactSurfaceLayerP) << "\n";
stream << prefix << "</physics:ode>\n";
}
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-09-09 22:25:27 UTC
(rev 8256)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-09-11 02:48:28 UTC
(rev 8257)
@@ -291,6 +291,8 @@
{
stream << prefix << "<rendering:ogre>\n";
stream << prefix << " " << *(this->ambientP) << "\n";
+ stream << prefix << " " << *(this->drawGridP) << "\n";
+ stream << prefix << " " << *(this->updateRateP) << "\n";
stream << prefix << " <sky>\n";
stream << prefix << " " << *(this->skyMaterialP) << "\n";
stream << prefix << " </sky>\n";
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-09-09 22:25:27 UTC
(rev 8256)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-09-11 02:48:28 UTC
(rev 8257)
@@ -266,7 +266,9 @@
<< specularColor.g << " " << specularColor.b << " "
<< specularColor.a << "</specularColor>\n";
- stream << prefix << " <attenuation>" << attRange << " " << attConst
+ stream << prefix << " <range>"<< attRange << "</range>\n";
+
+ stream << prefix << " <attenuation>" << " " << attConst
<< " " << attLinear << " " << attQuadric << "</attenuation>\n";
stream << prefix << "</light>\n";
}
@@ -323,29 +325,31 @@
if (cnode)
{
Ogre::ColourValue backgroundColor;
- //Ogre::FogMode fogType = Ogre::FOG_NONE;
- //std::string type;
+ Ogre::FogMode fogType = Ogre::FOG_NONE;
+ std::string type;
//double density;
double linearStart, linearEnd;
backgroundColor.r = cnode->GetTupleDouble("color",0,0);
backgroundColor.g = cnode->GetTupleDouble("color",1,0);
backgroundColor.b = cnode->GetTupleDouble("color",2,0);
- //type = cnode->GetString("type","linear",0);
+ type = cnode->GetString("type","linear",0);
//density = cnode->GetDouble("density",0,0);
linearStart = cnode->GetDouble("linearStart",0,0);
linearEnd = cnode->GetDouble("linearEnd",1.0,0);
- /*if (type == "linear")
+ if (type == "linear")
fogType = Ogre::FOG_LINEAR;
- else if (type == "exp")
+ else if (type == "exp")
fogType = Ogre::FOG_EXP;
- else if (type == "exp2")
+ else if (type == "exp2")
fogType = Ogre::FOG_EXP2;
- */
- //OgreAdaptor::Instance()->sceneMgr->setFog(fogType, backgroundColor,
density, linearStart, linearEnd);
- OgreAdaptor::Instance()->sceneMgr->setFog(Ogre::FOG_LINEAR,
backgroundColor, 0, linearStart, linearEnd);
+ if (type != "none")
+ {
+ //OgreAdaptor::Instance()->sceneMgr->setFog(fogType, backgroundColor,
density, linearStart, linearEnd);
+ OgreAdaptor::Instance()->sceneMgr->setFog(Ogre::FOG_LINEAR,
backgroundColor, 0, linearStart, linearEnd);
+ }
}
}
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