Revision: 8472
http://playerstage.svn.sourceforge.net/playerstage/?rev=8472&view=rev
Author: natepak
Date: 2009-12-17 19:05:14 +0000 (Thu, 17 Dec 2009)
Log Message:
-----------
Fixed running without rendering engine
Modified Paths:
--------------
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/physics/Joint.cc
code/gazebo/trunk/server/physics/MultiRayShape.cc
code/gazebo/trunk/server/physics/ode/ODERayShape.cc
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-12-17 02:53:42 UTC (rev 8471)
+++ code/gazebo/trunk/server/Model.cc 2009-12-17 19:05:14 UTC (rev 8472)
@@ -252,9 +252,12 @@
this->SetGravityMode( **this->enableGravityP );
//global fiducial and retro id
- this->SetLaserFiducialId(**this->laserFiducialP);
- this->SetLaserRetro(**this->laserRetroP);
+ if (**this->laserFiducialP != -1.0 )
+ this->SetLaserFiducialId(**this->laserFiducialP);
+ if (**this->laserRetroP != -1.0)
+ this->SetLaserRetro(**this->laserRetroP);
+
// Create the graphics iface handler
this->graphicsHandler = new GraphicsIfaceHandler();
this->graphicsHandler->Load(this->GetScopedName(), this);
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2009-12-17 02:53:42 UTC (rev
8471)
+++ code/gazebo/trunk/server/physics/Joint.cc 2009-12-17 19:05:14 UTC (rev
8472)
@@ -210,18 +210,21 @@
/// Update the joint
void Joint::Update()
{
+ this->anchorPos = (Pose3d(**(this->anchorOffsetP),Quatern()) +
+ this->anchorBody->GetAbsPose()).pos;
+
//TODO: Evaluate impact of this code on performance
if (this->visual)
+ {
this->visual->SetVisible(World::Instance()->GetShowJoints());
- this->anchorPos = (Pose3d(**(this->anchorOffsetP),Quatern())+
this->anchorBody->GetAbsPose()).pos;
-
- this->visual->SetPosition(this->anchorPos);
- if (this->body1)
- this->line1->SetPoint(1, this->body1->GetAbsPose().pos - this->anchorPos);
+ this->visual->SetPosition(this->anchorPos);
+ if (this->body1)
+ this->line1->SetPoint(1, this->body1->GetAbsPose().pos -
this->anchorPos);
- if (this->body2)
- this->line2->SetPoint(1, this->body2->GetAbsPose().pos - this->anchorPos);
+ if (this->body2)
+ this->line2->SetPoint(1, this->body2->GetAbsPose().pos -
this->anchorPos);
+ }
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/MultiRayShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/MultiRayShape.cc 2009-12-17 02:53:42 UTC
(rev 8471)
+++ code/gazebo/trunk/server/physics/MultiRayShape.cc 2009-12-17 19:05:14 UTC
(rev 8472)
@@ -15,11 +15,14 @@
this->rayFanOutline = OgreCreator::Instance()->CreateDynamicLine(
OgreDynamicRenderable::OT_LINE_STRIP);
- this->parent->GetVisualNode()->AttachObject(this->rayFan);
- this->parent->GetVisualNode()->AttachObject(this->rayFanOutline);
+ if (this->rayFan && this->rayFanOutline)
+ {
+ this->parent->GetVisualNode()->AttachObject(this->rayFan);
+ this->parent->GetVisualNode()->AttachObject(this->rayFanOutline);
- this->rayFan->setMaterial("Gazebo/BlueLaser");
- this->rayFanOutline->setMaterial("Gazebo/BlueEmissive");
+ this->rayFan->setMaterial("Gazebo/BlueLaser");
+ this->rayFanOutline->setMaterial("Gazebo/BlueEmissive");
+ }
Param::Begin(&this->parameters);
this->rayCountP = new ParamT<int>("rayCount",0,1);
Modified: code/gazebo/trunk/server/physics/ode/ODERayShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODERayShape.cc 2009-12-17 02:53:42 UTC
(rev 8471)
+++ code/gazebo/trunk/server/physics/ode/ODERayShape.cc 2009-12-17 19:05:14 UTC
(rev 8472)
@@ -66,8 +66,6 @@
dir = this->globalEndPos - this->globalStartPos;
dir.Normalize();
- //std::cout << "Start[" << this->relativeStartPos << "] End[" <<
this->relativeEndPos << "] Dir[" << dir << "]\n";
-
if (this->contactLen != 0)
{
dGeomRaySet(geom->GetGeomId(), this->globalStartPos.x,
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