Revision: 8478
http://playerstage.svn.sourceforge.net/playerstage/?rev=8478&view=rev
Author: natepak
Date: 2009-12-22 06:17:23 +0000 (Tue, 22 Dec 2009)
Log Message:
-----------
Fixed more issues with 64bit machines
Modified Paths:
--------------
code/gazebo/trunk/server/Mesh.cc
code/gazebo/trunk/server/STLLoader.cc
code/gazebo/trunk/server/STLLoader.hh
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/physics/PhysicsEngine.cc
code/gazebo/trunk/server/physics/PhysicsEngine.hh
code/gazebo/trunk/server/physics/ode/ODEBody.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/OgreCreator.hh
Modified: code/gazebo/trunk/server/Mesh.cc
===================================================================
--- code/gazebo/trunk/server/Mesh.cc 2009-12-22 05:40:16 UTC (rev 8477)
+++ code/gazebo/trunk/server/Mesh.cc 2009-12-22 06:17:23 UTC (rev 8478)
@@ -178,7 +178,7 @@
if (i < this->submeshes.size())
return this->submeshes[i];
else
- gzthrow("Invalid index\n");
+ gzthrow("Invalid index: " << i << " >= " << this->submeshes.size() <<
"\n");
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/STLLoader.cc
===================================================================
--- code/gazebo/trunk/server/STLLoader.cc 2009-12-22 05:40:16 UTC (rev
8477)
+++ code/gazebo/trunk/server/STLLoader.cc 2009-12-22 06:17:23 UTC (rev
8478)
@@ -279,11 +279,11 @@
////////////////////////////////////////////////////////////////////////////////
/// Reads a long int from a binary file.
-long int STLLoader::LongIntRead ( FILE *filein )
+uint32_t STLLoader::LongIntRead ( FILE *filein )
{
union
{
- long int yint;
+ uint32_t yint;
char ychar[4];
} y;
@@ -297,11 +297,11 @@
////////////////////////////////////////////////////////////////////////////////
/// Reads a short int from a binary file.
-short int STLLoader::ShortIntRead ( FILE *filein )
+uint16_t STLLoader::ShortIntRead ( FILE *filein )
{
- unsigned char c1;
- unsigned char c2;
- short int ival;
+ uint8_t c1;
+ uint8_t c2;
+ uint16_t ival;
c1 = fgetc ( filein );
c2 = fgetc ( filein );
Modified: code/gazebo/trunk/server/STLLoader.hh
===================================================================
--- code/gazebo/trunk/server/STLLoader.hh 2009-12-22 05:40:16 UTC (rev
8477)
+++ code/gazebo/trunk/server/STLLoader.hh 2009-12-22 06:17:23 UTC (rev
8478)
@@ -1,6 +1,8 @@
#ifndef STLLOADER_HH
#define STLLOADER_HH
+#include <stdint.h>
+
#include "MeshLoader.hh"
#define LINE_MAX_LEN 256
@@ -36,10 +38,10 @@
private: int RcolFind ( float a[][COR3_MAX], int m, int n, float r[] );
/// Reads a long int from a binary file.
- private: long int LongIntRead ( FILE *filein );
+ private: uint32_t LongIntRead ( FILE *filein );
/// Reads a short int from a binary file.
- private: short int ShortIntRead ( FILE *filein );
+ private: uint16_t ShortIntRead ( FILE *filein );
/// Read 1 float from a binary file.
private: float FloatRead ( FILE *filein );
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-12-22 05:40:16 UTC (rev
8477)
+++ code/gazebo/trunk/server/Simulator.cc 2009-12-22 06:17:23 UTC (rev
8478)
@@ -632,6 +632,7 @@
{
//DiagnosticTimer timer("PhysicsLoop Timer ");
+
currTime = this->GetRealTime();
userStepped = false;
Modified: code/gazebo/trunk/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/trunk/server/physics/PhysicsEngine.cc 2009-12-22 05:40:16 UTC
(rev 8477)
+++ code/gazebo/trunk/server/physics/PhysicsEngine.cc 2009-12-22 06:17:23 UTC
(rev 8478)
@@ -26,6 +26,8 @@
#include <boost/thread/recursive_mutex.hpp>
+#include "OgreVisual.hh"
+#include "OgreCreator.hh"
#include "Shape.hh"
#include "PhysicsEngine.hh"
@@ -42,12 +44,18 @@
Param::End();
this->mutex = new boost::recursive_mutex();
+ this->visual =
OgreCreator::Instance()->CreateVisual("Physics_Engine_Visual");
+ this->visual->SetCastShadows(false);
+ this->visual->SetPosition(Vector3(0,0,0));
+ this->visual->AttachMesh("joint_anchor");
+ this->visual->SetVisible(false);
}
////////////////////////////////////////////////////////////////////////////////
// Destructor
PhysicsEngine::~PhysicsEngine()
{
+ delete this->visual;
delete this->gravityP;
delete this->updateRateP;
delete this->stepTimeP;
@@ -101,3 +109,10 @@
return NULL;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Add a contact visual
+void PhysicsEngine::AddContactVisual(Vector3 pos, Vector3 norm)
+{
+ this->visual->SetDirty(true, Pose3d(pos, Quatern()));
+}
Modified: code/gazebo/trunk/server/physics/PhysicsEngine.hh
===================================================================
--- code/gazebo/trunk/server/physics/PhysicsEngine.hh 2009-12-22 05:40:16 UTC
(rev 8477)
+++ code/gazebo/trunk/server/physics/PhysicsEngine.hh 2009-12-22 06:17:23 UTC
(rev 8478)
@@ -44,6 +44,7 @@
class Entity;
class Body;
class XMLConfigNode;
+ class OgreVisual;
/// \addtogroup gazebo_physics_engine
/** \{
@@ -149,6 +150,9 @@
/// \brief Convert a Gazebo mass to an engine specific mass
public: virtual void ConvertMass(void *engineMass, const Mass &mass) = 0;
+ /// \brief Add a contact visual
+ protected: void AddContactVisual(Vector3 pos, Vector3 norm);
+
/// The gravity vector
protected: ParamT<Vector3> *gravityP;
@@ -163,6 +167,8 @@
protected: std::vector<Param*> parameters;
private: boost::recursive_mutex *mutex;
+
+ protected: OgreVisual *visual;
};
/** \}*/
Modified: code/gazebo/trunk/server/physics/ode/ODEBody.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEBody.cc 2009-12-22 05:40:16 UTC
(rev 8477)
+++ code/gazebo/trunk/server/physics/ode/ODEBody.cc 2009-12-22 06:17:23 UTC
(rev 8478)
@@ -101,7 +101,6 @@
const dReal *r;
ODEBody *self = (ODEBody*)(dBodyGetData(id));
- self->physicsEngine->LockMutex();
p = dBodyGetPosition(id);
r = dBodyGetQuaternion(id);
@@ -111,7 +110,6 @@
Pose3d pp = self->comEntity->GetRelativePose().GetInverse() + pose;
self->SetAbsPose(pp, false);
- self->physicsEngine->UnlockMutex();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-12-22 05:40:16 UTC
(rev 8477)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-12-22 06:17:23 UTC
(rev 8478)
@@ -65,6 +65,7 @@
ODEPhysics::ODEPhysics()
: PhysicsEngine()
{
+
// Collision detection init
dInitODE2(0);
@@ -192,11 +193,11 @@
// Update the ODE collisions, create joints
void ODEPhysics::UpdateCollision()
{
- DiagnosticTimer timer("ODEPhysics Collision Update");
+ //DiagnosticTimer timer("ODEPhysics Collision Update");
std::vector<ContactFeedback>::iterator iter;
std::vector<dJointFeedback>::iterator jiter;
- timer.Start();
+ //timer.Start();
// Do collision detection; this will add contacts to the contact group
this->LockMutex();
@@ -247,18 +248,23 @@
this->LockMutex();
- DiagnosticTimer timer("ODEPhysics Step Update");
+ //DiagnosticTimer timer("ODEPhysics Step Update");
// Update the dynamical model
- if (this->quickStepP->GetValue())
+ if (**this->quickStepP)
+ {
dWorldQuickStep(this->worldId, (**this->stepTimeP).Double());
+ }
else
+ {
dWorldStep( this->worldId, (**this->stepTimeP).Double() );
+ }
// Very important to clear out the contact group
dJointGroupEmpty( this->contactGroup );
this->UnlockMutex();
+
}
@@ -514,18 +520,21 @@
dJointID c = dJointCreateContact (self->worldId,
self->contactGroup, &contact);
+ Vector3 contactPos(contact.geom.pos[0], contact.geom.pos[1],
+ contact.geom.pos[2]);
+ Vector3 contactNorm(contact.geom.normal[0], contact.geom.normal[1],
+ contact.geom.normal[2]);
+
+ self->AddContactVisual(contactPos, contactNorm);
+
// Store the contact info
if (geom1->GetContactsEnabled() ||
geom2->GetContactsEnabled())
{
(*self->contactFeedbackIter).contact.depths.push_back(
contact.geom.depth);
- (*self->contactFeedbackIter).contact.positions.push_back(
- Vector3(contact.geom.pos[0], contact.geom.pos[1],
- contact.geom.pos[2]) );
- (*self->contactFeedbackIter).contact.normals.push_back(
- Vector3(contact.geom.normal[0], contact.geom.normal[1],
- contact.geom.normal[2]) );
+ (*self->contactFeedbackIter).contact.positions.push_back(contactPos);
+ (*self->contactFeedbackIter).contact.normals.push_back(contactNorm);
(*self->contactFeedbackIter).contact.time =
Simulator::Instance()->GetSimTime();
dJointSetFeedback(c, &((*self->contactFeedbackIter).feedbacks[i]));
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-12-22 05:40:16 UTC
(rev 8477)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-12-22 06:17:23 UTC
(rev 8478)
@@ -23,6 +23,7 @@
* Date: 13 Feb 2006
* CVS: $Id$
*/
+#include <stdint.h>
#include <Ogre.h>
#include <OgreDataStream.h>
@@ -178,7 +179,7 @@
glXMakeCurrent(this->dummyDisplay, this->dummyWindowId,
this->dummyContext);
OgreCreator::Instance()->CreateWindow(this->dummyDisplay, screen,
- (long)this->dummyWindowId,1,1);
+ (int32_t)this->dummyWindowId,1,1);
}
// Set default mipmap level (NB some APIs ignore this)
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-12-22 05:40:16 UTC
(rev 8477)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-12-22 06:17:23 UTC
(rev 8478)
@@ -555,7 +555,7 @@
XSync(fl_display, false);
win = OgreCreator::CreateWindow( fl_display, fl_visual->screen,
- (long)(Fl_X::i(flWindow)->xid), width, height);
+ (int32_t)(Fl_X::i(flWindow)->xid), width, height);
if (win)
this->windows.push_back(win);
}
@@ -566,8 +566,7 @@
////////////////////////////////////////////////////////////////////////////////
// Create a window for Ogre
Ogre::RenderWindow *OgreCreator::CreateWindow(Display *display, int screen,
- long winId, unsigned int width,
- unsigned int height)
+ int32_t winId, unsigned int
width, unsigned int height)
{
if (!Simulator::Instance()->GetRenderEngineEnabled())
return NULL;
@@ -741,15 +740,11 @@
// Update the text
for (titer = this->text.begin(); titer != this->text.end(); titer++)
- {
(*titer)->Update();
- }
// Update the lines
for (iter = this->lines.begin(); iter != this->lines.end(); iter++)
- {
(*iter)->Update();
- }
// We only need this loop because we are using threads. The physics engine
// can't reliably set the pose of the visuals when it's running in a
@@ -977,6 +972,6 @@
}
catch (Ogre::Exception e)
{
- std::cerr << "Unable to create a basic Unit cylinder object" << std::endl;
+ gzerr(0) << "Unable to create a basic Unit cylinder object" << std::endl;
}
}
Modified: code/gazebo/trunk/server/rendering/OgreCreator.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.hh 2009-12-22 05:40:16 UTC
(rev 8477)
+++ code/gazebo/trunk/server/rendering/OgreCreator.hh 2009-12-22 06:17:23 UTC
(rev 8478)
@@ -26,6 +26,7 @@
#ifndef OGRECREATOR
#define OGRECREATOR
+#include <stdint.h>
#include <string>
#include <vector>
@@ -103,7 +104,7 @@
/// \brief Create a window for Ogre
public: Ogre::RenderWindow *CreateWindow(Display *display,
int screen,
- long winId,
+ int32_t winId,
unsigned int width,
unsigned int height);
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