Revision: 8422
http://playerstage.svn.sourceforge.net/playerstage/?rev=8422&view=rev
Author: natepak
Date: 2009-11-19 17:46:36 +0000 (Thu, 19 Nov 2009)
Log Message:
-----------
Fixed positioning
Modified Paths:
--------------
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/gui/Toolbar.cc
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/worlds/pr2.world
code/gazebo/trunk/worlds/simpleshapes.world
code/gazebo/trunk/worlds/willowgarage.world
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2009-11-19 00:39:20 UTC (rev 8421)
+++ code/gazebo/trunk/server/Entity.cc 2009-11-19 17:46:36 UTC (rev 8422)
@@ -321,7 +321,7 @@
// Handle a change of pose
void Entity::PoseChange(bool notify)
{
- if (Simulator::Instance()->GetState() == Simulator::RUN || !this->IsStatic())
+ if (Simulator::Instance()->GetState() == Simulator::RUN)// ||
this->IsStatic())
this->visualNode->SetDirty(true, this->relativePose);
else
this->visualNode->SetPose(this->relativePose);
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-11-19 00:39:20 UTC (rev 8421)
+++ code/gazebo/trunk/server/Model.cc 2009-11-19 17:46:36 UTC (rev 8422)
@@ -202,9 +202,7 @@
pose.rot = **this->rpyP;
if (this->IsStatic())
- {
this->SetRelativePose( pose );
- }
if (this->type == "physical")
this->LoadPhysical(node);
@@ -1110,7 +1108,7 @@
sprintf(lightNumBuf, "%d", lightNumber++);
body->SetName(this->GetName() + "_RenderableBody_" + lightNumBuf);
//body->SetGravityMode(false);
- body->SetRelativePose(Pose3d());
+ //body->SetRelativePose(Pose3d());
this->bodies[body->GetName()] = body;
if (Simulator::Instance()->GetRenderEngineEnabled() &&
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2009-11-19 00:39:20 UTC (rev 8421)
+++ code/gazebo/trunk/server/gui/Gui.cc 2009-11-19 17:46:36 UTC (rev 8422)
@@ -153,6 +153,7 @@
void Gui::Update()
{
this->sidebar->Update();
+ this->toolbar->Update();
this->statusbar->Update();
this->frameMgr->Update();
Modified: code/gazebo/trunk/server/gui/Toolbar.cc
===================================================================
--- code/gazebo/trunk/server/gui/Toolbar.cc 2009-11-19 00:39:20 UTC (rev
8421)
+++ code/gazebo/trunk/server/gui/Toolbar.cc 2009-11-19 17:46:36 UTC (rev
8422)
@@ -138,13 +138,25 @@
{
if (Simulator::Instance()->IsPaused())
{
- //this->playButton->label("@>");
- //this->stepButton->activate();
+ this->stepButton->activate();
+ this->stepButton->image(this->stepImage[0]);
+
+ this->pauseButton->deactivate();
+ this->pauseButton->image(this->pauseImage[1]);
+
+ this->playButton->activate();
+ this->playButton->image( this->playImage[0] );
}
else
{
- //this->playButton->label("@||");
- //this->stepButton->deactivate();
+ this->stepButton->deactivate();
+ this->stepButton->image(this->stepImage[1]);
+
+ this->pauseButton->activate();
+ this->pauseButton->image(this->pauseImage[0]);
+
+ this->playButton->deactivate();
+ this->playButton->image( this->playImage[1] );
}
}
@@ -153,19 +165,7 @@
void Toolbar::PlayButtonCB( Fl_Widget *w, void *data )
{
Toolbar *tb = (Toolbar*)(data);
-/*
- if (strcmp(w->label(), "@||") == 0)
- {
- Simulator::Instance()->SetPaused(true);
- tb->stepButton->activate();
- w->label("@>");
- }
- else
- {
- w->label("@||");
- }*/
-
if (Simulator::Instance()->IsPaused())
{
Simulator::Instance()->SetPaused(false);
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-11-19 00:39:20 UTC (rev
8421)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-11-19 17:46:36 UTC (rev
8422)
@@ -132,7 +132,7 @@
if (visual)
{
visual->Load(childNode);
- //visual->SetIgnorePoseUpdates(true);
+ visual->SetIgnorePoseUpdates(true);
this->visuals.push_back(visual);
visual->SetCastShadows(true);
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-19 00:39:20 UTC
(rev 8421)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-19 17:46:36 UTC
(rev 8422)
@@ -82,6 +82,8 @@
std::ostringstream stream;
this->mutex = new boost::recursive_mutex();
+ this->dirty = false;
+
Param::Begin(&this->parameters);
this->xyzP = new ParamT<Vector3>("xyz", Vector3(0,0,0), 0);
this->xyzP->Callback( &OgreVisual::SetPosition, this );
@@ -124,10 +126,11 @@
this->isStatic = isStatic;
- if (this->isStatic)
+/* if (this->isStatic)
this->staticGeom = this->sceneNode->getCreator()->createStaticGeometry(
this->GetName() + "_staticgeom");
else
+ */
this->staticGeom = NULL;
}
@@ -644,8 +647,9 @@
obj->setCastShadows(shadows);
}
- if (this->IsStatic())
+ /*if (this->IsStatic())
this->staticGeom->setCastShadows(shadows);
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/worlds/pr2.world
===================================================================
--- code/gazebo/trunk/worlds/pr2.world 2009-11-19 00:39:20 UTC (rev 8421)
+++ code/gazebo/trunk/worlds/pr2.world 2009-11-19 17:46:36 UTC (rev 8422)
@@ -70,16 +70,6 @@
</body:plane>
</model:physical>
- <model:physical name="pr2_model">
- <xyz>0 0 0</xyz>
- <rpy>0.0 0.0 0.0</rpy>
-
- <include embedded="true">
- <xi:include href="models/pr2.model" />
- </include>
-
- </model:physical>
-
<model:renderable name="point_white">
<xyz>0 3 5</xyz>
<static>true</static>
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2009-11-19 00:39:20 UTC (rev
8421)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2009-11-19 17:46:36 UTC (rev
8422)
@@ -122,7 +122,6 @@
</body:cone>
</model:physical>
-
<!-- Ground Plane -->
<model:physical name="plane1_model">
<xyz>0 0 0</xyz>
@@ -144,8 +143,8 @@
<!-- White Point light -->
<model:renderable name="point_white">
- <xyz>-4 4 5</xyz>
- <static>true</static>
+ <xyz>-2 2 5</xyz>
+ <static>false</static>
<light>
<type>point</type>
@@ -154,7 +153,7 @@
<range>20</range>
<!-- Constant(0-1) Linear(0-1) Quadratic -->
- <attenuation>0.5 0.01 0.001</attenuation>
+ <attenuation>0.1 0.01 0.001</attenuation>
</light>
</model:renderable>
Modified: code/gazebo/trunk/worlds/willowgarage.world
===================================================================
--- code/gazebo/trunk/worlds/willowgarage.world 2009-11-19 00:39:20 UTC (rev
8421)
+++ code/gazebo/trunk/worlds/willowgarage.world 2009-11-19 17:46:36 UTC (rev
8422)
@@ -19,11 +19,11 @@
<logData>0</logData>
<physics:ode>
- <stepTime>0.001</stepTime>
+ <stepTime>0.003</stepTime>
<gravity>0 0 -9.80665</gravity>
<updateRate>0</updateRate>
<cfm>1e-07</cfm>
- <erp>0.3</erp>
+ <erp>0.2</erp>
<quickStep>1</quickStep>
<quickStepIters>10</quickStepIters>
<quickStepW>1.3</quickStepW>
@@ -32,7 +32,7 @@
</physics:ode>
<rendering:ogre>
- <ambient>0.1 0.1 0.1 1</ambient>
+ <ambient>0.3 0.3 0.3 1</ambient>
<grid>0</grid>
<sky>
<material>Gazebo/Grey</material>
@@ -50,8 +50,16 @@
</rendering:ogre>
<rendering:gui>
- <size>2457 1432</size>
+ <type>fltk</type>
+ <size>1365 1085</size>
<pos>5 49</pos>
+ <frames>
+ <camera width="1115" height="995" x="250"
+ y="60">
+ <xyz>1.9 -2.53 1.65</xyz>
+ <rpy>0 14.6 113.70</rpy>
+ </camera>
+ </frames>
</rendering:gui>
<model:physical name="plane1_model">
@@ -111,217 +119,43 @@
<scale>0.0254 0.0254 0.0254</scale>
</visual>
</geom:trimesh>
+ </body>
+ </model:physical>
+ <model:physical name="pr2_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
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- </body>
+ <include embedded="true">
+ <xi:include href="models/pr2.model" />
+ </include>
</model:physical>
- <model:renderable name="point_white2">
- <xyz>23.0083 19.1032 41.0918</xyz>
- <rpy>0 -0 0</rpy>
- <enableGravity>1</enableGravity>
- <enableFriction>1</enableFriction>
- <collide>all</collide>
+ <model:renderable name="point_white">
+ <xyz>10 10 50</xyz>
+ <static>true</static>
+
<light>
<type>point</type>
- <direction>0 0 -1</direction>
+ <castShadows>true</castShadows>
<diffuseColor>1 1 1 1</diffuseColor>
- <specularColor>1 1 1 1</specularColor>
- <range>100</range>
- <attenuation> 0 0.01 0.001</attenuation>
+ <specularColor>0 0 0</specularColor>
+ <range>200</range>
+ <attenuation> 0 0.01 0.003</attenuation>
</light>
</model:renderable>
- <model:renderable name="point_white3">
- <xyz>0.014406 1.98417 17.0365</xyz>
- <rpy>0 -0 0</rpy>
- <enableGravity>1</enableGravity>
- <enableFriction>1</enableFriction>
- <collide>all</collide>
+ <model:renderable name="point_white2">
+ <xyz>2.31394 -9.82216 10.4572</xyz>
+ <static>true</static>
+
<light>
+ <castShadows>false</castShadows>
<type>point</type>
- <direction>0 0 -1</direction>
- <diffuseColor>0.9 0.9 0.9 1</diffuseColor>
- <specularColor>0.9 0.9 0.9 1</specularColor>
- <range>90</range>
- <attenuation> 0 0.1 0.001</attenuation>
+ <diffuseColor>0.6 0.6 0.6 1</diffuseColor>
+ <specularColor>0.0 0.0 0.0</specularColor>
+ <range>100</range>
+ <attenuation>0.0 0.08 0.0003</attenuation>
</light>
</model:renderable>
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