Revision: 8279
http://playerstage.svn.sourceforge.net/playerstage/?rev=8279&view=rev
Author: natepak
Date: 2009-10-06 13:58:48 +0000 (Tue, 06 Oct 2009)
Log Message:
-----------
Cleaned up the trimesh loading
Modified Paths:
--------------
code/gazebo/trunk/server/GazeboConfig.cc
code/gazebo/trunk/server/MeshLoader.cc
code/gazebo/trunk/server/MeshLoader.hh
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/TrimeshGeom.cc
code/gazebo/trunk/server/rendering/UserCamera.cc
code/gazebo/trunk/worlds/trimesh.world
Modified: code/gazebo/trunk/server/GazeboConfig.cc
===================================================================
--- code/gazebo/trunk/server/GazeboConfig.cc 2009-10-06 13:09:14 UTC (rev
8278)
+++ code/gazebo/trunk/server/GazeboConfig.cc 2009-10-06 13:58:48 UTC (rev
8279)
@@ -100,7 +100,7 @@
node = rc.GetRootNode()->GetChild("gazeboPath");
while (node)
{
- gzmsg(1) << "Gazebo Path[" << node->GetValue() << "]\n";
+ gzmsg(2) << "Gazebo Path[" << node->GetValue() << "]\n";
this->gazeboPaths.push_back(node->GetValue());
node = node->GetNext("gazeboPath");
}
@@ -112,7 +112,7 @@
node = rc.GetRootNode()->GetChild("ogrePath");
while (node)
{
- gzmsg(1) << "Ogre Path[" << node->GetValue() << "]\n";
+ gzmsg(2) << "Ogre Path[" << node->GetValue() << "]\n";
this->ogrePaths.push_back( node->GetValue() );
node = node->GetNext("ogrePath");
}
Modified: code/gazebo/trunk/server/MeshLoader.cc
===================================================================
--- code/gazebo/trunk/server/MeshLoader.cc 2009-10-06 13:09:14 UTC (rev
8278)
+++ code/gazebo/trunk/server/MeshLoader.cc 2009-10-06 13:58:48 UTC (rev
8279)
@@ -11,6 +11,18 @@
using namespace gazebo;
////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+MeshLoader::MeshLoader()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+MeshLoader::~MeshLoader()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Load a mesh from file
void MeshLoader::Load(const std::string &filename)
{
Modified: code/gazebo/trunk/server/MeshLoader.hh
===================================================================
--- code/gazebo/trunk/server/MeshLoader.hh 2009-10-06 13:09:14 UTC (rev
8278)
+++ code/gazebo/trunk/server/MeshLoader.hh 2009-10-06 13:58:48 UTC (rev
8279)
@@ -62,6 +62,12 @@
/// \brief This class will load vertex information for a mesh
class MeshLoader
{
+ /// \brief Constructor
+ public: MeshLoader();
+
+ /// \brief Destructor
+ public: virtual ~MeshLoader();
+
/// \brief Load a mesh from file
public: void Load(const std::string &filename);
@@ -94,7 +100,7 @@
if (id == 0x1000)
{
std::string version = ReadString(file);
- printf("Version %s\n",version.c_str());
+ //printf("Version %s\n",version.c_str());
return true;
}
@@ -163,14 +169,17 @@
return sizeof(this->id) + sizeof(this->length);
}
- public: void Read(FILE *file)
+ public: bool Read(FILE *file)
{
if (!feof(file) &&
fread(&this->id, sizeof(this->id), 1, file) < 1)
- printf("Error in Read\n");
+ return false;
+
if (!feof(file) &&
fread(&this->length, sizeof(this->length), 1, file) < 1)
- printf("Error in Read\n");
+ return false;
+
+ return true;
}
};
}
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-10-06 13:09:14 UTC (rev 8278)
+++ code/gazebo/trunk/server/Model.cc 2009-10-06 13:58:48 UTC (rev 8279)
@@ -414,9 +414,6 @@
Pose3d bodyPose, newPose, oldPose;
- if (this->GetName() == "wood_pallet")
- std::cout << "Pose[" << this->GetPose().pos << "]\n";
-
#ifdef TIMING
double tmpT1 = Simulator::Instance()->GetWallTime();
#endif
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-10-06 13:09:14 UTC (rev
8278)
+++ code/gazebo/trunk/server/Simulator.cc 2009-10-06 13:58:48 UTC (rev
8279)
@@ -74,8 +74,6 @@
selectedBody(NULL)
{
this->mutex = new boost::recursive_mutex();
-
- printf("Simulator Init\n");
this->startTime = this->GetWallTime();
}
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-10-06 13:09:14 UTC (rev
8278)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-10-06 13:58:48 UTC (rev
8279)
@@ -137,8 +137,6 @@
this->contact->Load(node);
- std::cout << "Loading geom[" << this->GetName() << "]\n";
-
this->LoadChild(node);
this->body->AttachGeom(this);
Modified: code/gazebo/trunk/server/physics/TrimeshGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshGeom.cc 2009-10-06 13:09:14 UTC
(rev 8278)
+++ code/gazebo/trunk/server/physics/TrimeshGeom.cc 2009-10-06 13:58:48 UTC
(rev 8279)
@@ -95,6 +95,8 @@
/// Load the trimesh
void TrimeshGeom::LoadChild(XMLConfigNode *node)
{
+ MeshLoader *meshLoader;
+
unsigned int numVertices = 0;
unsigned int numIndices = 0;
float *vertices = NULL;
@@ -102,21 +104,18 @@
this->meshNameP->Load(node);
this->scaleP->Load(node);
-
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- gzthrow("Trimesh objects are not supported when running Gazebo without
rendering engine");
- MeshLoader meshLoader;
- meshLoader.Load( this->meshNameP->GetValue() );
+ meshLoader = new MeshLoader();
+ meshLoader->Load( this->meshNameP->GetValue() );
- numIndices = meshLoader.GetNumIndices();
- numVertices = meshLoader.GetNumVertices();
+ numIndices = meshLoader->GetNumIndices();
+ numVertices = meshLoader->GetNumVertices();
// Create the vertex and index arrays
vertices = new float[numVertices*3];
indices = new unsigned int[numIndices];
- meshLoader.FillArrays(&vertices, &indices);
+ meshLoader->FillArrays(&vertices, &indices);
for (unsigned int i=0; i < numVertices; i++)
{
@@ -142,6 +141,8 @@
memset(this->matrix_dblbuff,0,32*sizeof(dReal));
this->last_matrix_index = 0;
+
+ delete meshLoader;
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2009-10-06 13:09:14 UTC
(rev 8278)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2009-10-06 13:58:48 UTC
(rev 8279)
@@ -89,7 +89,6 @@
this->renderTarget = this->window;
- printf("User Camera Init\n");
this->lastUpdate = Simulator::Instance()->GetRealTime();
}
Modified: code/gazebo/trunk/worlds/trimesh.world
===================================================================
--- code/gazebo/trunk/worlds/trimesh.world 2009-10-06 13:09:14 UTC (rev
8278)
+++ code/gazebo/trunk/worlds/trimesh.world 2009-10-06 13:58:48 UTC (rev
8279)
@@ -14,7 +14,7 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
- <verbosity>5</verbosity>
+ <verbosity>1</verbosity>
<physics:ode>
<stepTime>0.0001</stepTime>
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