Revision: 8355
http://playerstage.svn.sourceforge.net/playerstage/?rev=8355&view=rev
Author: natepak
Date: 2009-11-03 17:20:47 +0000 (Tue, 03 Nov 2009)
Log Message:
-----------
Fixed the trimesh shape
Modified Paths:
--------------
code/gazebo/branches/bullet2/server/physics/TrimeshShape.cc
Modified: code/gazebo/branches/bullet2/server/physics/TrimeshShape.cc
===================================================================
--- code/gazebo/branches/bullet2/server/physics/TrimeshShape.cc 2009-11-03
16:53:39 UTC (rev 8354)
+++ code/gazebo/branches/bullet2/server/physics/TrimeshShape.cc 2009-11-03
17:20:47 UTC (rev 8355)
@@ -24,7 +24,8 @@
* SVN: $Id$
*/
-#include "MeshLoader.hh"
+#include "MeshManager.hh"
+#include "Mesh.hh"
#include "TrimeshShape.hh"
#include "GazeboError.hh"
#include "OgreAdaptor.hh"
@@ -61,31 +62,27 @@
/// Load the trimesh
void TrimeshShape::Load(XMLConfigNode *node)
{
- MeshLoader *meshLoader = NULL;
+ MeshManager *meshManager = MeshManager::Instance();
this->meshNameP->Load(node);
this->scaleP->Load(node);
- meshLoader = new MeshLoader();
- meshLoader->Load( this->meshNameP->GetValue() );
+ const Mesh *mesh = meshManager->Load( **this->meshNameP );
- this->numIndices = meshLoader->GetNumIndices();
- this->numVertices = meshLoader->GetNumVertices();
+ if (!mesh)
+ gzthrow("Invalid mesh");
- // Create the vertex and index arrays
- this->vertices = new float[this->numVertices*3];
- this->indices = new unsigned int[this->numIndices];
+ mesh->FillArrays(&this->vertices, &this->indices);
- meshLoader->FillArrays(&vertices, &indices);
+ this->numIndices = mesh->GetIndexCount();
+ this->numVertices = mesh->GetVertexCount();
for (unsigned int i=0; i < this->numVertices; i++)
{
- vertices[i*3+0] = vertices[i*3+0] * (**this->scaleP).x;
- vertices[i*3+1] = vertices[i*3+1] * (**this->scaleP).y;
- vertices[i*3+2] = vertices[i*3+2] * (**this->scaleP).z;
+ this->vertices[i*3+0] = this->vertices[i*3+0] * (**this->scaleP).x;
+ this->vertices[i*3+1] = this->vertices[i*3+1] * (**this->scaleP).y;
+ this->vertices[i*3+2] = this->vertices[i*3+2] * (**this->scaleP).z;
}
-
- delete meshLoader;
}
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