Revision: 8345
http://playerstage.svn.sourceforge.net/playerstage/?rev=8345&view=rev
Author: natepak
Date: 2009-10-30 16:35:24 +0000 (Fri, 30 Oct 2009)
Log Message:
-----------
Incorporated patches from John Hsu
Modified Paths:
--------------
code/gazebo/trunk/3rd_party/assimp/code/ColladaParser.cpp
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/libgazebo/Client.cc
code/gazebo/trunk/libgazebo/bindings/ruby/CMakeLists.txt
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/Global.hh
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
code/gazebo/trunk/server/sensors/ray/RaySensor.cc
Modified: code/gazebo/trunk/3rd_party/assimp/code/ColladaParser.cpp
===================================================================
--- code/gazebo/trunk/3rd_party/assimp/code/ColladaParser.cpp 2009-10-30
15:06:10 UTC (rev 8344)
+++ code/gazebo/trunk/3rd_party/assimp/code/ColladaParser.cpp 2009-10-30
16:35:24 UTC (rev 8345)
@@ -76,7 +76,6 @@
if( !mReader)
ThrowException( "Collada: Unable to open file.");
- std::cout << "Read Contents\n";
// start reading
ReadContents();
}
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-10-30 15:06:10 UTC
(rev 8344)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-10-30 16:35:24 UTC
(rev 8345)
@@ -13,6 +13,7 @@
SET (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to
override automatic detection.")
SET (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to
override automatic detection.")
SET (boost_libraries "" CACHE STRING "Boost libraries. Use this to override
automatic detection.")
+SET (threadpool_include_dirs "" CACHE STRING "Threadpool include paths. Use
this to override automatic detection.")
########################################
# Find packages
@@ -210,7 +211,12 @@
MESSAGE (STATUS "Boost Library Path: ${boost_library_dirs}")
MESSAGE (STATUS "Boost Libraries: ${boost_libraries}")
+
########################################
+# For Threadpool
+message (STATUS "Threadpool Include Path: ${threadpool_include_dirs}")
+
+########################################
# Find avformat and avcodec
IF (HAVE_FFMPEG)
SET (libavformat_search_path
Modified: code/gazebo/trunk/libgazebo/Client.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Client.cc 2009-10-30 15:06:10 UTC (rev
8344)
+++ code/gazebo/trunk/libgazebo/Client.cc 2009-10-30 16:35:24 UTC (rev
8345)
@@ -84,6 +84,7 @@
void Client::ConnectWait(int serverId, int clientId)
{
bool simulationIfaceIsValid = false;
+ gazebo::SimulationIface simulationIface;
while (!simulationIfaceIsValid)
{
@@ -129,13 +130,12 @@
this->filename = stream.str();
- std::cout << "opening " << this->filename << "\n";
+ //std::cout << "opening " << this->filename << "\n";
// Connect to gazebo::SimulationIface and check for changing realTime,
// if simulationIface->data->realTime is not changing, the server might
// be stale leftovers from previous gazebo crash,
// disconnect and reconnect client
- gazebo::SimulationIface simulationIface;
try
{
simulationIface.Open(this,"default");
@@ -177,6 +177,7 @@
}
}
+ simulationIface.Close();
}
Modified: code/gazebo/trunk/libgazebo/bindings/ruby/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/libgazebo/bindings/ruby/CMakeLists.txt 2009-10-30
15:06:10 UTC (rev 8344)
+++ code/gazebo/trunk/libgazebo/bindings/ruby/CMakeLists.txt 2009-10-30
16:35:24 UTC (rev 8345)
@@ -2,6 +2,8 @@
if(RUBY_LIBRARY AND RUBY_INCLUDE_PATH)
SET(RUBY_FOUND TRUE)
+ message(STATUS "Found Ruby libraries: ${RUBY_LIBRARY}")
+ message(STATUS "Found Ruby includes: ${RUBY_INCLUDE_PATH}")
endif (RUBY_LIBRARY AND RUBY_INCLUDE_PATH)
IF(RUBY_FOUND)
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-10-30 15:06:10 UTC (rev
8344)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-10-30 16:35:24 UTC (rev
8345)
@@ -1,5 +1,6 @@
INCLUDE (${gazebo_cmake_dir}/GazeboUtils.cmake)
+STRING (REPLACE " " ";" threadpool_include_dirs_split
"${threadpool_include_dirs}")
########################################
# Include all the search paths for headers
@@ -24,6 +25,7 @@
${gazeboserver_include_dirs}
${boost_include_dirs}
${freeimage_include_dir}
+ ${threadpool_include_dirs_split}
${FLTK_INCLUDE_DIR}
)
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2009-10-30 15:06:10 UTC (rev 8344)
+++ code/gazebo/trunk/server/Entity.cc 2009-10-30 16:35:24 UTC (rev 8345)
@@ -59,16 +59,16 @@
{
this->parent->AddChild(this);
-// if (Simulator::Instance()->GetRenderEngineEnabled())
+ if (Simulator::Instance()->GetRenderEngineEnabled())
this->visualNode = OgreCreator::Instance()->CreateVisual(
- visname.str(), this->parent->GetVisualNode(), this);
+ visname.str(), this->parent->GetVisualNode(), this);
this->SetStatic(parent->IsStatic());
}
else
{
- //if (Simulator::Instance()->GetRenderEngineEnabled())
- this->visualNode = OgreCreator::Instance()->CreateVisual(
- visname.str(), NULL, this );
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ this->visualNode = OgreCreator::Instance()->CreateVisual(
+ visname.str(), NULL, this );
}
// Add this to the phyic's engine
@@ -83,8 +83,9 @@
World::Instance()->GetPhysicsEngine()->RemoveEntity(this);
- if (this->visualNode)
- OgreCreator::Instance()->DeleteVisual(this->visualNode);
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ if (this->visualNode)
+ OgreCreator::Instance()->DeleteVisual(this->visualNode);
this->visualNode = NULL;
}
Modified: code/gazebo/trunk/server/Global.hh
===================================================================
--- code/gazebo/trunk/server/Global.hh 2009-10-30 15:06:10 UTC (rev 8344)
+++ code/gazebo/trunk/server/Global.hh 2009-10-30 16:35:24 UTC (rev 8345)
@@ -80,6 +80,7 @@
#define ROUND(x) ( (int)( floor((x)+0.5) ) )
-//#define TIMING
+#undef TIMING
+#undef USE_THREADPOOL
#endif
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-10-30 15:06:10 UTC (rev 8344)
+++ code/gazebo/trunk/server/Model.cc 2009-10-30 16:35:24 UTC (rev 8345)
@@ -36,6 +36,7 @@
#include "GazeboMessage.hh"
#include "XMLConfig.hh"
#include "World.hh"
+#include "Simulator.hh"
#include "OgreCreator.hh"
#include "Body.hh"
#include "HingeJoint.hh"
@@ -256,12 +257,10 @@
if (**this->staticP == false)
this->SetGravityMode( **this->enableGravityP );
-
//global fiducial and retro id
this->SetLaserFiducialId(**this->laserFiducialP);
this->SetLaserRetro(**this->laserRetroP);
-
// Create the graphics iface handler
this->graphicsHandler = new GraphicsIfaceHandler();
this->graphicsHandler->Load(this->GetScopedName(), this);
@@ -353,7 +352,8 @@
{
if (!this->lightName.empty())
{
- OgreCreator::SaveLight(p, this->lightName, stream);
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ OgreCreator::SaveLight(p, this->lightName, stream);
}
}
@@ -408,6 +408,10 @@
// Update the model
void Model::Update()
{
+#ifdef USE_THREADPOOL
+ World::Instance()->GetPhysicsEngine()->InitForThread();
+#endif
+
std::map<std::string, Body* >::iterator bodyIter;
std::map<std::string, Controller* >::iterator contIter;
std::map<std::string, Joint* >::iterator jointIter;
@@ -422,7 +426,11 @@
{
if (bodyIter->second)
{
+#ifdef USE_THREADPOOL
+
World::Instance()->threadPool->schedule(boost::bind(&Body::Update,(bodyIter->second)));
+#else
bodyIter->second->Update();
+#endif
}
}
@@ -434,9 +442,14 @@
for (contIter=this->controllers.begin();
contIter!=this->controllers.end(); contIter++)
{
-
if (contIter->second)
+ {
+#ifdef USE_THREADPOOL
+
World::Instance()->threadPool->schedule(boost::bind(&Controller::Update,(contIter->second)));
+#else
contIter->second->Update();
+#endif
+ }
}
#ifdef TIMING
@@ -446,7 +459,11 @@
for (jointIter = this->joints.begin(); jointIter != this->joints.end();
jointIter++)
{
+#ifdef USE_THREADPOOL
+
World::Instance()->threadPool->schedule(boost::bind(&Joint::Update,(jointIter->second)));
+#else
jointIter->second->Update();
+#endif
}
#ifdef TIMING
@@ -454,8 +471,6 @@
std::cout << " ALL Joints/canonical body (" << this->GetName() << ") DT
(" << tmpT4-tmpT3 << ")" << std::endl;
#endif
-
-
// Call the model's python update function, if one exists
/*if (this->pFuncUpdate)
{
@@ -481,16 +496,15 @@
this->xyzP->SetValue(this->pose.pos);
this->rpyP->SetValue(this->pose.rot);
}
+
+ this->UpdateChild();
#ifdef TIMING
- this->UpdateChild();
double tmpT5 = Simulator::Instance()->GetWallTime();
std::cout << " ALL child (" << this->GetName() << ") update DT ("
<< tmpT5-tmpT4 << ")" << std::endl;
std::cout << " Models::Update() (" << this->GetName()
<< ") Total DT (" << tmpT5-tmpT1 << ")" << std::endl;
-#else
- this->UpdateChild();
#endif
}
@@ -1121,9 +1135,11 @@
body->SetPose(Pose3d());
this->bodies[body->GetName()] = body;
- if ((childNode = node->GetChild("light")))
+ if (Simulator::Instance()->GetRenderEngineEnabled() &&
+ (childNode = node->GetChild("light")))
{
- this->lightName = OgreCreator::CreateLight(childNode,
body->GetVisualNode());
+ this->lightName = OgreCreator::CreateLight(childNode,
+ body->GetVisualNode());
}
}
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-10-30 15:06:10 UTC (rev
8344)
+++ code/gazebo/trunk/server/Simulator.cc 2009-10-30 16:35:24 UTC (rev
8345)
@@ -353,8 +353,10 @@
this->gui->Update();
World::Instance()->ProcessEntitiesToLoad();
- World::Instance()->GraphicsUpdate();
+ if (this->renderEngineEnabled)
+ World::Instance()->GraphicsUpdate();
+
currTime = this->GetWallTime();
if (currTime - lastTime < 1/freq)
@@ -637,9 +639,18 @@
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
+#ifdef TIMING
+ double tmpT2 = Simulator::Instance()->GetWallTime();
+ std::cout << " LOCK DT(" << tmpT2-tmpT1 << ")" << std::endl;
+#endif
world->Update();
}
+#ifdef TIMING
+ double tmpT2 = Simulator::Instance()->GetWallTime();
+ std::cout << " World::Update() DT(" << tmpT2-tmpT1 << ")" << std::endl;
+#endif
+
currTime = this->GetRealTime();
// Set a default sleep time
@@ -673,6 +684,11 @@
// Process all incoming messages from simiface
world->UpdateSimulationIface();
+#ifdef TIMING
+ double tmpT3 = Simulator::Instance()->GetWallTime();
+ std::cout << " World::UpdatSimulationIface() DT(" << tmpT3-tmpT2 << ")" <<
std::endl;
+#endif
+
if (this->timeout > 0 && this->GetRealTime() > this->timeout)
{
this->userQuit = true;
@@ -686,8 +702,8 @@
}
#ifdef TIMING
- double tmpT2 = this->GetWallTime();
- std::cout << " Simulator::PhysicsLoop() DT(" << tmpT2-tmpT1
+ double tmpT4 = this->GetWallTime();
+ std::cout << " Simulator::PhysicsLoop() DT(" << tmpT4-tmpT1
<< ")" << std::endl;
#endif
}
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-10-30 15:06:10 UTC (rev 8344)
+++ code/gazebo/trunk/server/World.cc 2009-10-30 16:35:24 UTC (rev 8345)
@@ -64,6 +64,12 @@
this->graphics = NULL;
this->openAL = NULL;
this->factory = NULL;
+
+#ifdef USE_THREADPOOL
+ Param::Begin(&this->parameters);
+ this->threadsP = new ParamT<int>("threads",2,0);
+ Param::End();
+#endif
}
////////////////////////////////////////////////////////////////////////////////
@@ -119,6 +125,12 @@
delete this->factory;
this->factory = NULL;
}
+
+#ifdef USE_THREADPOOL
+ delete this->threadsP;
+ delete this->threadPool;
+#endif
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -152,8 +164,11 @@
this->factory = new Factory();
// Create the graphics iface handler
- this->graphics = new GraphicsIfaceHandler();
- this->graphics->Load("default");
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ {
+ this->graphics = new GraphicsIfaceHandler();
+ this->graphics->Load("default");
+ }
// Load OpenAL audio
if (rootNode->GetChild("openal","audio"))
@@ -176,6 +191,11 @@
this->physicsEngine->Load(rootNode);
+#ifdef USE_THREADPOOL
+ // start a thread pool with X threads
+ this->threadsP->Load(rootNode);
+ this->threadPool = new boost::threadpool::pool(this->threadsP->GetValue());
+#endif
}
////////////////////////////////////////////////////////////////////////////////
@@ -221,7 +241,8 @@
this->toDeleteModels.clear();
this->toLoadEntities.clear();
- this->graphics->Init();
+ if (Simulator::Instance()->GetRenderEngineEnabled())
+ this->graphics->Init();
this->factory->Init();
}
@@ -277,10 +298,19 @@
{
if (*miter)
{
+#ifdef USE_THREADPOOL
+ this->threadPool->schedule(boost::bind(&Model::Update,(*miter)));
+#else
(*miter)->Update();
+#endif
}
}
+#ifdef USE_THREADPOOL
+ this->threadPool->wait();
+#endif
+
+
#ifdef TIMING
double tmpT2 = Simulator::Instance()->GetWallTime();
std::cout << " World::Update() ALL Models update DT(" << tmpT2-tmpT1 << ")"
<< std::endl;
@@ -292,7 +322,6 @@
this->physicsEngine->UpdatePhysics();
}
-
this->factory->Update();
#ifdef TIMING
@@ -308,7 +337,7 @@
{
std::vector< Model* >::iterator miter;
- if (this->graphics)
+ if (Simulator::Instance()->GetRenderEngineEnabled() && this->graphics)
delete this->graphics;
// Finalize the models
@@ -401,7 +430,6 @@
// Add a new entity to the world
void World::InsertEntity( std::string xmlString)
{
- boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMRMutex());
this->toLoadEntities.push_back( xmlString );
}
@@ -409,31 +437,37 @@
// Load all the entities that have been queued
void World::ProcessEntitiesToLoad()
{
- boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMRMutex());
- std::vector< std::string >::iterator iter;
-
- for (iter = this->toLoadEntities.begin();
- iter != this->toLoadEntities.end(); iter++)
+ if (!this->toLoadEntities.empty())
{
- // Create the world file
- XMLConfig *xmlConfig = new XMLConfig();
+ // maybe try try_lock here instead
+ boost::recursive_mutex::scoped_lock lock(
+ *Simulator::Instance()->GetMRMutex());
- // Load the XML tree from the given string
- try
+ std::vector< std::string >::iterator iter;
+
+ for (iter = this->toLoadEntities.begin();
+ iter != this->toLoadEntities.end(); iter++)
{
- xmlConfig->LoadString( *iter );
+ // Create the world file
+ XMLConfig *xmlConfig = new XMLConfig();
+
+ // Load the XML tree from the given string
+ try
+ {
+ xmlConfig->LoadString( *iter );
+ }
+ catch (gazebo::GazeboError e)
+ {
+ gzerr(0) << "The world could not load the XML data [" << e << "]\n";
+ continue;
+ }
+
+ this->LoadEntities( xmlConfig->GetRootNode(), NULL, true);
+ delete xmlConfig;
}
- catch (gazebo::GazeboError e)
- {
- gzerr(0) << "The world could not load the XML data [" << e << "]\n";
- continue;
- }
- this->LoadEntities( xmlConfig->GetRootNode(), NULL, true);
- delete xmlConfig;
+ this->toLoadEntities.clear();
}
-
- this->toLoadEntities.clear();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2009-10-30 15:06:10 UTC (rev 8344)
+++ code/gazebo/trunk/server/World.hh 2009-10-30 16:35:24 UTC (rev 8345)
@@ -31,10 +31,16 @@
#include <vector>
#include <boost/tuple/tuple.hpp>
+#ifdef USE_THREADPOOL
+#include "boost/threadpool.hpp"
+#include "boost/thread/mutex.hpp"
+#endif
+
#include "SingletonT.hh"
#include "Vector3.hh"
#include "Pose3d.hh"
#include "Entity.hh"
+#include "Global.hh"
namespace gazebo
{
@@ -234,6 +240,13 @@
private: OpenAL *openAL;
+#ifdef USE_THREADPOOL
+ private: ParamT<int>* threadsP;
+ /// List of all the parameters
+ protected: std::vector<Param*> parameters;
+ public: boost::threadpool::pool* threadPool;
+#endif
+
private: friend class DestroyerT<World>;
private: friend class SingletonT<World>;
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-10-30 15:06:10 UTC (rev
8344)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-10-30 16:35:24 UTC (rev
8345)
@@ -432,6 +432,11 @@
// Update the body
void Body::Update()
{
+#ifdef USE_THREADPOOL
+ // If calling Body::Update in threadpool
+ World::Instance()->GetPhysicsEngine()->InitForThread();
+#endif
+
std::vector< Sensor* >::iterator sensorIter;
std::map< std::string, Geom* >::iterator geomIter;
Vector3 vel;
@@ -484,7 +489,11 @@
for (geomIter=this->geoms.begin();
geomIter!=this->geoms.end(); geomIter++)
{
+#ifdef USE_THREADPOOL
+ World::Instance()->threadpool->schedule(boost::bind(&Geom::Update,
(geomIter->second)));
+#else
geomIter->second->Update();
+#endif
}
#ifdef TIMING
@@ -495,7 +504,11 @@
for (sensorIter=this->sensors.begin();
sensorIter!=this->sensors.end(); sensorIter++)
{
+#ifdef USE_THREADPOOL
+ World::Instance()->threadpool->schedule(boost::bind(&Sensor::Update,
(sensorIter)));
+#else
(*sensorIter)->Update();
+#endif
}
#ifdef TIMING
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-10-30 15:06:10 UTC
(rev 8344)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-10-30 16:35:24 UTC
(rev 8345)
@@ -192,8 +192,8 @@
{
this->sceneType= SCENE_EXT;
//this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
- //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
- this->sceneMgr = this->root->createSceneManager(Ogre::ST_GENERIC);
+ this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
+ //this->sceneMgr = this->root->createSceneManager(Ogre::ST_GENERIC);
}
// Load Resources
@@ -233,7 +233,6 @@
this->sceneMgr->setShadowTextureSize(**(this->shadowTextureSizeP));
this->sceneMgr->setShadowIndexBufferSize(**(this->shadowIndexSizeP) );
-
// Ambient lighting
this->sceneMgr->setAmbientLight(ambient);
@@ -318,8 +317,8 @@
plugins.push_back(path+"/RenderSystem_GL.so");
plugins.push_back(path+"/Plugin_ParticleFX.so");
- //plugins.push_back(path+"/Plugin_BSPSceneManager.so");
- //plugins.push_back(path+"/Plugin_OctreeSceneManager.so");
+ plugins.push_back(path+"/Plugin_BSPSceneManager.so");
+ plugins.push_back(path+"/Plugin_OctreeSceneManager.so");
for (piter=plugins.begin(); piter!=plugins.end(); piter++)
{
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-10-30 15:06:10 UTC
(rev 8344)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-10-30 16:35:24 UTC
(rev 8345)
@@ -112,7 +112,8 @@
void OgreCamera::LoadCam( XMLConfigNode *node )
{
if (!Simulator::Instance()->GetRenderEngineEnabled())
- gzthrow("Cameras can not be used when running Gazebo without rendering
engine");
+ return;
+ //gzthrow("Cameras can not be used when running Gazebo without rendering
engine");
this->visibilityMask = GZ_ALL_CAMERA;
@@ -185,6 +186,9 @@
// Initialize the camera
void OgreCamera::InitCam()
{
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ return;
+
this->camera = OgreCreator::CreateCamera(this->cameraName,
this->nearClipP->GetValue(), this->farClipP->GetValue(),
*(this->hfovP->GetValue()), this->renderTarget );
// Create a scene node to control pitch motion
@@ -208,6 +212,9 @@
// Update the drawing
void OgreCamera::UpdateCam()
{
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ return;
+
if (this->camera)
{
if (World::Instance()->GetWireframe())
@@ -258,6 +265,11 @@
// Render the camera
void OgreCamera::Render()
{
+ // disable rendering if "-r" option is given
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ return;
+
+ // disable rendering if sensor not set to active
if (!this->renderingEnabled)
return;
@@ -323,6 +335,9 @@
/// Set the global pose of the camera
void OgreCamera::SetWorldPose(const Pose3d &pose)
{
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ return;
+
this->pose = pose;
this->sceneNode->setPosition( this->pose.pos.x, this->pose.pos.y,
this->pose.pos.z);
this->pitchNode->setOrientation( this->pose.rot.u, this->pose.rot.x,
this->pose.rot.y, this->pose.rot.z);
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-10-30 15:06:10 UTC
(rev 8344)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-10-30 16:35:24 UTC
(rev 8345)
@@ -800,9 +800,9 @@
(*iter)->Update();
}
+ if (!this->visuals.empty())
{
boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMRMutex());
-
// Update the visuals
for (viter = this->visuals.begin(); viter != this->visuals.end(); viter++)
{
Modified: code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2009-10-30
15:06:10 UTC (rev 8344)
+++ code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2009-10-30
16:35:24 UTC (rev 8345)
@@ -160,7 +160,9 @@
!this->saveFramesP->GetValue())
return;
- this->UpdateCam();
+ // Or skip if user sets camera to inactive
+ if (this->active)
+ this->UpdateCam();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/sensors/ray/RaySensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/ray/RaySensor.cc 2009-10-30 15:06:10 UTC
(rev 8344)
+++ code/gazebo/trunk/server/sensors/ray/RaySensor.cc 2009-10-30 16:35:24 UTC
(rev 8345)
@@ -383,7 +383,7 @@
// Update the sensor information
void RaySensor::UpdateChild()
{
- // if (this->active)
+ if (this->active)
{
std::vector<RayGeom*>::iterator iter;
Pose3d poseDelta;
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