Revision: 8439
http://playerstage.svn.sourceforge.net/playerstage/?rev=8439&view=rev
Author: natepak
Date: 2009-11-23 19:41:41 +0000 (Mon, 23 Nov 2009)
Log Message:
-----------
Not longer called model->Update if the model is static
Modified Paths:
--------------
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/Entity.hh
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/MapShape.cc
code/gazebo/trunk/server/rendering/Light.cc
code/gazebo/trunk/server/rendering/OgreVisual.cc
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2009-11-23 16:17:24 UTC (rev 8438)
+++ code/gazebo/trunk/server/Entity.cc 2009-11-23 19:41:41 UTC (rev 8439)
@@ -151,6 +151,9 @@
for (iter = this->children.begin(); iter != this->children.end(); iter++)
{
+ if ( (*iter)->IsStatic())
+ continue;
+
(*iter)->SetStatic(s);
body = dynamic_cast<Body*>(*iter);
if (body)
@@ -321,10 +324,11 @@
// 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->visualNode->SetDirty(true, this->relativePose);
else
- this->visualNode->SetPose(this->relativePose);
+ */
+ this->visualNode->SetPose(this->relativePose);
if (notify)
{
@@ -335,3 +339,15 @@
(*iter)->OnPoseChange();
}
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the parent model, if one exists
+Model *Entity::GetParentModel() const
+{
+ Entity *p = this->parent;
+
+ while (p && !p->IsModel())
+ p = p->GetParent();
+
+ return (Model*)p;
+}
Modified: code/gazebo/trunk/server/Entity.hh
===================================================================
--- code/gazebo/trunk/server/Entity.hh 2009-11-23 16:17:24 UTC (rev 8438)
+++ code/gazebo/trunk/server/Entity.hh 2009-11-23 19:41:41 UTC (rev 8439)
@@ -139,6 +139,10 @@
/// \brief Return true if the entity is a model
public: bool IsModel() const;
+ /// \brief Get the parent model, if one exists
+ /// \return Pointer to a model, or NULL if no parent model exists
+ public: Model *GetParentModel() const;
+
/// \brief Return the name of this entity with the model scope
/// model1::...::modelN::entityName
public: std::string GetScopedName();
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-11-23 16:17:24 UTC (rev 8438)
+++ code/gazebo/trunk/server/Model.cc 2009-11-23 19:41:41 UTC (rev 8439)
@@ -538,7 +538,6 @@
// Reset the model
void Model::Reset()
{
- std::cout << "Model[" << this->GetName() << "] Reset\n";
JointContainer::iterator jiter;
std::map< std::string, Body* >::iterator biter;
std::map<std::string, Controller* >::iterator citer;
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-11-23 16:17:24 UTC (rev 8438)
+++ code/gazebo/trunk/server/World.cc 2009-11-23 19:41:41 UTC (rev 8439)
@@ -309,7 +309,7 @@
std::vector< Model* >::iterator miter;
for (miter=this->models.begin(); miter!=this->models.end(); miter++)
{
- if (*miter)
+ if (!(*miter)->IsStatic())
{
#ifdef USE_THREADPOOL
this->threadPool->schedule(boost::bind(&Model::Update,(*miter)));
@@ -333,7 +333,6 @@
Simulator::Instance()->GetPhysicsEnabled())
{
this->physicsEngine->UpdatePhysics();
-
this->SaveState();
}
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2009-11-23 16:17:24 UTC (rev 8438)
+++ code/gazebo/trunk/server/World.hh 2009-11-23 19:41:41 UTC (rev 8439)
@@ -235,7 +235,7 @@
{
addEntitySignal.connect(subscriber);
}
-
+
/// \brif Get the names of interfaces defined in the tree of a model
private: void GetInterfaceNames(Entity* m, std::vector<std::string>& list);
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-11-23 16:17:24 UTC (rev
8438)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-11-23 19:41:41 UTC (rev
8439)
@@ -140,11 +140,14 @@
if (this->IsStatic())
visual->MakeStatic();
+
childNode = childNode->GetNext("visual");
}
+
+
if (this->GetType() != Shape::PLANE && this->GetType() != Shape::HEIGHTMAP)
{
World::Instance()->RegisterGeom(this);
Modified: code/gazebo/trunk/server/physics/MapShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/MapShape.cc 2009-11-23 16:17:24 UTC
(rev 8438)
+++ code/gazebo/trunk/server/physics/MapShape.cc 2009-11-23 19:41:41 UTC
(rev 8439)
@@ -174,15 +174,15 @@
stream << " <visual>";
stream << " <mesh>unit_box</mesh>";
stream << " <material>" << this->materialP->GetValue() << "</material>";
- stream << " <size>" << xSize << " " << ySize << " " << zSize << "</size>";
+ stream << " <size>" << xSize << " "<< ySize << " " << zSize <<
"</size>";
stream << " </visual>";
stream << "</geom:box>";
stream << "</gazebo:world>";
boxConfig->LoadString( stream.str() );
+ geom->SetStatic(true);
geom->Load( boxConfig->GetRootNode()->GetChild() );
- geom->SetStatic(true);
delete boxConfig;
}
Modified: code/gazebo/trunk/server/rendering/Light.cc
===================================================================
--- code/gazebo/trunk/server/rendering/Light.cc 2009-11-23 16:17:24 UTC (rev
8438)
+++ code/gazebo/trunk/server/rendering/Light.cc 2009-11-23 19:41:41 UTC (rev
8439)
@@ -1,5 +1,6 @@
#include <Ogre.h>
+#include "Model.hh"
#include "OgreDynamicLines.hh"
#include "OgreVisual.hh"
#include "OgreCreator.hh"
@@ -62,6 +63,7 @@
else if (lightType == "directional")
{
this->light->setType(Ogre::Light::LT_DIRECTIONAL);
+ this->parent->GetParentModel()->SetStatic(true);
}
else if (lightType == "spot")
{
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-23 16:17:24 UTC
(rev 8438)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-23 19:41:41 UTC
(rev 8439)
@@ -126,11 +126,12 @@
this->isStatic = isStatic;
-/* if (this->isStatic)
+ if (this->isStatic)
+ {
this->staticGeom = this->sceneNode->getCreator()->createStaticGeometry(
this->GetName() + "_staticgeom");
+ }
else
- */
this->staticGeom = NULL;
}
@@ -354,22 +355,14 @@
if (!this->staticGeom)
this->staticGeom =
OgreAdaptor::Instance()->sceneMgr->createStaticGeometry(this->sceneNode->getName()
+ "_Static");
- //this->staticGeom->setRegionDimensions(Ogre::Vector3(1,1,1));
- //this->staticGeom->setOrigin(Ogre::Vector3(2,2,1));
-
- //this->sceneNode->setVisible(true);
-
// Add the scene node to the static geometry
this->staticGeom->addSceneNode(this->sceneNode);
// Build the static geometry
this->staticGeom->build();
- // Detach the scene node from the parent. Prevents double rendering
+ // Prevent double rendering
this->sceneNode->setVisible(false);
- /*if (this->sceneNode->getParent())
- this->sceneNode->getParent()->removeChild(this->sceneNode);
- */
}
////////////////////////////////////////////////////////////////////////////////
@@ -647,9 +640,8 @@
obj->setCastShadows(shadows);
}
- /*if (this->IsStatic())
+ if (this->IsStatic())
this->staticGeom->setCastShadows(shadows);
- */
}
////////////////////////////////////////////////////////////////////////////////
@@ -683,9 +675,10 @@
if (this->IsStatic())
{
- //this->sceneNode->setParent( this->owner->GetVisu
+ //this->sceneNode->setParent(this->owner->GetVisualNode()->GetSceneNode()
);
//this->staticGeom->reset();
//this->MakeStatic();
+ //this->staticGeom->setOrigin( Ogre::Vector3(pos.x, pos.y, pos.z) );
}
else
{
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