Revision: 8494
http://playerstage.svn.sourceforge.net/playerstage/?rev=8494&view=rev
Author: natepak
Date: 2010-01-11 19:45:39 +0000 (Mon, 11 Jan 2010)
Log Message:
-----------
Fixed to work with latest OGRE
Modified Paths:
--------------
code/gazebo/trunk/3rd_party/assimp/code/ACLoader.cpp
code/gazebo/trunk/3rd_party/assimp/code/MD5Loader.cpp
code/gazebo/trunk/3rd_party/assimp/code/TextureTransform.cpp
code/gazebo/trunk/3rd_party/assimp/contrib/irrXML/CXMLReaderImpl.h
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/gui/CMakeLists.txt
code/gazebo/trunk/server/physics/bullet/BulletBody.cc
code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
code/gazebo/trunk/server/physics/ode/CMakeLists.txt
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreMovableText.hh
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/server/rendering/OgreVisual.hh
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
code/gazebo/trunk/worlds/models/pioneer2dx.model
Modified: code/gazebo/trunk/3rd_party/assimp/code/ACLoader.cpp
===================================================================
--- code/gazebo/trunk/3rd_party/assimp/code/ACLoader.cpp 2010-01-11
18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/3rd_party/assimp/code/ACLoader.cpp 2010-01-11
19:45:39 UTC (rev 8494)
@@ -176,7 +176,7 @@
light->mAttenuationConstant = 1.f;
// Generate a default name for both the light source and the
node
- light->mName.length =
::sprintf(light->mName.data,"ACLight_%i",mLights->size()-1);
+ light->mName.length =
::sprintf(light->mName.data,"ACLight_%lu",mLights->size()-1);
obj.name = std::string( light->mName.data );
DefaultLogger::get()->debug("AC3D: Light source encountered");
Modified: code/gazebo/trunk/3rd_party/assimp/code/MD5Loader.cpp
===================================================================
--- code/gazebo/trunk/3rd_party/assimp/code/MD5Loader.cpp 2010-01-11
18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/3rd_party/assimp/code/MD5Loader.cpp 2010-01-11
19:45:39 UTC (rev 8494)
@@ -695,7 +695,7 @@
for (std::vector<unsigned int>::const_iterator it = cuts.begin(); it !=
cuts.end()-1; ++it) {
aiAnimation* anim = *tmp++ = new aiAnimation();
- anim->mName.length =
::sprintf(anim->mName.data,"anim%i_from_%i_to_%i",it-cuts.begin(),(*it),*(it+1));
+ anim->mName.length =
::sprintf(anim->mName.data,"anim%lu_from_%lu_to_%lu",it-cuts.begin(),(*it),*(it+1));
anim->mTicksPerSecond = cameraParser.fFrameRate;
anim->mChannels = new aiNodeAnim*[anim->mNumChannels = 1];
Modified: code/gazebo/trunk/3rd_party/assimp/code/TextureTransform.cpp
===================================================================
--- code/gazebo/trunk/3rd_party/assimp/code/TextureTransform.cpp
2010-01-11 18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/3rd_party/assimp/code/TextureTransform.cpp
2010-01-11 19:45:39 UTC (rev 8494)
@@ -439,7 +439,7 @@
if (size > AI_MAX_NUMBER_OF_TEXTURECOORDS) {
if (!DefaultLogger::isNullLogger()) {
- ::sprintf(buffer,"%i UV channels required but
just %i available",
+ ::sprintf(buffer,"%d UV channels required but
just %d available",
trafo.size(),AI_MAX_NUMBER_OF_TEXTURECOORDS);
DefaultLogger::get()->error(buffer);
Modified: code/gazebo/trunk/3rd_party/assimp/contrib/irrXML/CXMLReaderImpl.h
===================================================================
--- code/gazebo/trunk/3rd_party/assimp/contrib/irrXML/CXMLReaderImpl.h
2010-01-11 18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/3rd_party/assimp/contrib/irrXML/CXMLReaderImpl.h
2010-01-11 19:45:39 UTC (rev 8494)
@@ -665,7 +665,7 @@
// MSVC debugger complains here about loss of data ...
for (int i=0; i<sizeWithoutHeader; ++i)
- TextData[i] = char_type( source[i] &
(src_char_type)((((uint64_t)1u << (sizeof( char_type)*8)) - 1)));
+ TextData[i] = char_type( source[i] &
(src_char_type)((((uint64_t)1u << (sizeof(char_type)*8)) - 1)));
TextBegin = TextData;
TextSize = sizeWithoutHeader;
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2010-01-11 18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/CMakeLists.txt 2010-01-11 19:45:39 UTC (rev 8494)
@@ -50,9 +50,9 @@
#####################################
# Build type cflags
-SET (CMAKE_C_FLAGS_RELEASE " -O2 -DNDEBUG -Wall " CACHE INTERNAL "C Flags for
release" FORCE)
-SET (CMAKE_C_FLAGS_DEBUG " -ggdb -Wall " CACHE INTERNAL "C Flags for debug"
FORCE)
-SET (CMAKE_C_FLAGS_PROFILE " -ggdb -pg -Wall " CACHE INTERNAL "C Flags for
profile" FORCE)
+SET (CMAKE_C_FLAGS_RELEASE " -O2 -DNDEBUG -Wall -fPIC " CACHE INTERNAL "C
Flags for release" FORCE)
+SET (CMAKE_C_FLAGS_DEBUG " -ggdb -Wall -fPIC " CACHE INTERNAL "C Flags for
debug" FORCE)
+SET (CMAKE_C_FLAGS_PROFILE " -ggdb -pg -Wall -fPIC " CACHE INTERNAL "C Flags
for profile" FORCE)
#####################################
# Build type link flags
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-01-11 18:29:07 UTC
(rev 8493)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-01-11 19:45:39 UTC
(rev 8494)
@@ -22,7 +22,7 @@
SET (bullet_collision_dirs "" CACHE STRING "Bullet Collision libraries. Use
this to override automatic detection.")
SET (bullet_softbody_dirs "" CACHE STRING "Bullet Softbody libraries. Use this
to override automatic detection.")
SET (bullet_math_dirs "" CACHE STRING "Bullet LinearMath libraries. Use this
to override automatic detection.")
-SET (bullet_cflags "" CACHE STRING "Bullet Dynamics C compile flags exported
by rospack.")
+SET (bullet_cflags "-DBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX" CACHE
STRING "Bullet Dynamics C compile flags exported by rospack.")
SET (threadpool_include_dirs "" CACHE STRING "Threadpool include paths. Use
this to override automatic detection.")
########################################
@@ -377,18 +377,19 @@
bullet_math_library AND
bullet_include_dir)
SET (INCLUDE_BULLET TRUE CACHE BOOL "Include support for Bullet")
+
APPEND_TO_CACHED_LIST(bullet_link_libs
${bullet_link_libs_desc}
- BulletDynamics)
+ ${bullet_dynamics_library})
APPEND_TO_CACHED_LIST(bullet_link_libs
${bullet_link_libs_desc}
- BulletCollision)
+ ${bullet_collision_library})
APPEND_TO_CACHED_LIST(bullet_link_libs
${bullet_link_libs_desc}
- BulletSoftBody)
+ ${bullet_softbody_library})
APPEND_TO_CACHED_LIST(bullet_link_libs
${bullet_link_libs_desc}
- LinearMath)
+ ${bullet_math_library})
ELSE (bullet_dynamics_library AND
@@ -403,4 +404,3 @@
bullet_softbody_library AND
bullet_math_library AND
bullet_include_dir)
-
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2010-01-11 18:29:07 UTC (rev
8493)
+++ code/gazebo/trunk/server/CMakeLists.txt 2010-01-11 19:45:39 UTC (rev
8494)
@@ -140,20 +140,32 @@
ENDIF (CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE})
target_link_libraries( gazebo-exec ${libtool_library}
+ BulletDynamics
${gazeboserver_link_libs}
${boost_libraries}
gazebo_server
+ BulletDynamics
${freeimage_library}
+ BulletDynamics
gazebo_rendering
+ BulletDynamics
gazebo_av-shared
+ BulletDynamics
gazebo_gui
+ BulletDynamics
gazebo_physics
+ BulletDynamics
gazebo
+ BulletDynamics
assimp
+ BulletDynamics
)
+target_link_libraries( gazebo_server ${libtool_library} ${freeimage_library}
gazebo gazebo_rendering gazebo_physics )
+
if (INCLUDE_BULLET)
target_link_libraries(gazebo-exec gazebo_physics_bullet ${bullet_link_libs})
+ target_link_libraries(gazebo-exec BulletDynamics)
target_link_libraries(gazebo_server gazebo_physics_bullet
${bullet_link_libs})
endif (INCLUDE_BULLET)
@@ -162,8 +174,7 @@
target_link_libraries(gazebo_server gazebo_physics_ode ${ODE_LIBRARIES})
endif (INCLUDE_ODE)
-TARGET_LINK_LIBRARIES( gazebo_server ${libtool_library} ${freeimage_library}
gazebo gazebo_rendering gazebo_physics )
-INSTALL (TARGETS gazebo-exec DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
-INSTALL (TARGETS gazebo_server DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
-INSTALL (FILES ${gazeboserver_headers} DESTINATION
${CMAKE_INSTALL_PREFIX}/include/gazebo COMPONENT headers)
+install (TARGETS gazebo-exec DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+install (TARGETS gazebo_server DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+install (FILES ${gazeboserver_headers} DESTINATION
${CMAKE_INSTALL_PREFIX}/include/gazebo COMPONENT headers)
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2010-01-11 18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/server/Model.cc 2010-01-11 19:45:39 UTC (rev 8494)
@@ -196,7 +196,7 @@
pose.pos = **this->xyzP;
pose.rot = **this->rpyP;
- //if (this->IsStatic())
+ if (this->IsStatic())
this->SetRelativePose( pose );
if (this->type == "physical")
@@ -207,8 +207,8 @@
gzthrow("Invalid model type[" + this->type + "]\n");
// Set the relative pose of the model
- //if (!this->IsStatic())
- //this->SetRelativePose( pose );
+ if (!this->IsStatic())
+ this->SetRelativePose( pose );
// Record the model's initial pose (for reseting)
this->SetInitPose(pose);
Modified: code/gazebo/trunk/server/gui/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/gui/CMakeLists.txt 2010-01-11 18:29:07 UTC (rev
8493)
+++ code/gazebo/trunk/server/gui/CMakeLists.txt 2010-01-11 19:45:39 UTC (rev
8494)
@@ -41,8 +41,10 @@
add_library(gazebo_gui SHARED ${sources})
-target_link_libraries(gazebo_gui ${FLTK_LIBRARIES} BulletDynamics
BulletCollision LinearMath)
+#target_link_libraries(gazebo_gui ${FLTK_LIBRARIES} BulletDynamics
BulletCollision LinearMath)
+target_link_libraries(gazebo_gui ${FLTK_LIBRARIES})
+
set_target_properties(gazebo_gui PROPERTIES OUTPUT_NAME "gazebo_gui" VERSION
${GAZEBO_VERSION})
install (TARGETS gazebo_gui DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
Modified: code/gazebo/trunk/server/physics/bullet/BulletBody.cc
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletBody.cc 2010-01-11
18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/server/physics/bullet/BulletBody.cc 2010-01-11
19:45:39 UTC (rev 8494)
@@ -206,7 +206,6 @@
this->compoundShape->calculateLocalInertia(btMass,fallInertia);
this->rigidBody->setMassProps(btMass, fallInertia);
}
-
}
////////////////////////////////////////////////////////////////////////////////
@@ -421,14 +420,16 @@
/// Set the linear damping factor
void BulletBody::SetLinearDamping(double damping)
{
- this->rigidBody->setDamping(damping, this->rigidBody->getAngularDamping());
+ this->rigidBody->setDamping((btScalar)damping,
+ (btScalar)this->rigidBody->getAngularDamping());
}
////////////////////////////////////////////////////////////////////////////////
/// Set the angular damping factor
void BulletBody::SetAngularDamping(double damping)
{
- this->rigidBody->setDamping(this->rigidBody->getLinearDamping(), damping);
+ this->rigidBody->setDamping(
+ (btScalar)this->rigidBody->getLinearDamping(), (btScalar)damping);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2010-01-11
18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2010-01-11
19:45:39 UTC (rev 8494)
@@ -55,8 +55,7 @@
)
add_definitions(${bullet_cflags})
-
-#ADD_DEFINITIONS(-DBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX)
+#add_definitions(mDBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX)
ADD_LIBRARY(gazebo_physics_bullet SHARED ${sources})
TARGET_LINK_LIBRARIES( gazebo_physics_bullet BulletDynamics BulletCollision
LinearMath )
INSTALL( TARGETS gazebo_physics_bullet DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
)
Modified: code/gazebo/trunk/server/physics/ode/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/ode/CMakeLists.txt 2010-01-11 18:29:07 UTC
(rev 8493)
+++ code/gazebo/trunk/server/physics/ode/CMakeLists.txt 2010-01-11 19:45:39 UTC
(rev 8494)
@@ -31,5 +31,6 @@
)
add_library(gazebo_physics_ode SHARED ${sources})
+set_target_properties(gazebo_physics_ode PROPERTIES COMPILE_FLAGS "-fPIC")
target_link_libraries( gazebo_physics_ode ${ODE_LIBRARIES})
install ( TARGETS gazebo_physics_ode DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-01-11 18:29:07 UTC
(rev 8493)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-01-11 19:45:39 UTC
(rev 8494)
@@ -408,17 +408,17 @@
Ogre::RenderSystem *renderSys;
// Set parameters of render system (window size, etc.)
- Ogre::RenderSystemList *rsList = this->root->getAvailableRenderers();
+ Ogre::RenderSystemList rsList = this->root->getAvailableRenderers();
int c = 0;
renderSys = NULL;
do
{
- if (c == (int)rsList->size())
+ if (c == (int)rsList.size())
break;
- renderSys = rsList->at(c);
+ renderSys = rsList.at(c);
c++;
}
while (renderSys->getName().compare("OpenGL Rendering Subsystem")!= 0);
@@ -505,7 +505,8 @@
{
if (iter->movable)
{
- OgreVisual *vis =
dynamic_cast<OgreVisual*>(iter->movable->getUserObject());
+ //OgreVisual *vis =
dynamic_cast<OgreVisual*>(iter->movable->getUserObject());
+ OgreVisual *vis =
Ogre::any_cast<OgreVisual*>(iter->movable->getUserAny());
if (vis && vis->GetOwner())
{
Modified: code/gazebo/trunk/server/rendering/OgreMovableText.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreMovableText.hh 2010-01-11
18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/server/rendering/OgreMovableText.hh 2010-01-11
19:45:39 UTC (rev 8494)
@@ -30,7 +30,6 @@
#include <Ogre.h>
#include <OgreMovableObject.h>
#include <OgreRenderable.h>
-#include <OgreUserDefinedObject.h>
#include <string>
namespace boost
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2010-01-11 18:29:07 UTC
(rev 8493)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2010-01-11 19:45:39 UTC
(rev 8494)
@@ -300,7 +300,7 @@
this->sceneNode->attachObject(obj);
- obj->setUserObject( this );
+ obj->setUserAny( Ogre::Any(this) );
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.hh 2010-01-11 18:29:07 UTC
(rev 8493)
+++ code/gazebo/trunk/server/rendering/OgreVisual.hh 2010-01-11 19:45:39 UTC
(rev 8494)
@@ -48,7 +48,7 @@
class Entity;
/// \brief Ogre Visual Object
- class OgreVisual : public Common, public Ogre::UserDefinedObject
+ class OgreVisual : public Common, public Ogre::Any
{
/// \brief Constructor
public: OgreVisual (OgreVisual *node, Entity *owner = NULL);
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2010-01-11 18:29:07 UTC (rev 8493)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2010-01-11 19:45:39 UTC (rev 8494)
@@ -259,7 +259,7 @@
autoParamDataSource.setCurrentRenderTarget(this->renderTargets[i]);
autoParamDataSource.setCurrentSceneManager(sceneMgr);
autoParamDataSource.setCurrentCamera(this->GetOgreCamera(), true);
- pass->_updateAutoParamsNoLights(&autoParamDataSource);
+ pass->_updateAutoParams(&autoParamDataSource,1);
renderSys->setLightingEnabled(false);
renderSys->_setFog(Ogre::FOG_NONE);
@@ -273,14 +273,14 @@
{
renderSys->bindGpuProgram(
pass->getVertexProgram()->_getBindingDelegate() );
renderSys->bindGpuProgramParameters(Ogre::GPT_VERTEX_PROGRAM,
- pass->getVertexProgramParameters());
+ pass->getVertexProgramParameters(),1);
}
if (pass->hasFragmentProgram())
{
renderSys->bindGpuProgram(
pass->getFragmentProgram()->_getBindingDelegate() );
renderSys->bindGpuProgramParameters(Ogre::GPT_FRAGMENT_PROGRAM,
- pass->getFragmentProgramParameters());
+ pass->getFragmentProgramParameters(),1);
}
this->renderTargets[i]->update();
Modified: code/gazebo/trunk/worlds/models/pioneer2dx.model
===================================================================
--- code/gazebo/trunk/worlds/models/pioneer2dx.model 2010-01-11 18:29:07 UTC
(rev 8493)
+++ code/gazebo/trunk/worlds/models/pioneer2dx.model 2010-01-11 19:45:39 UTC
(rev 8494)
@@ -149,7 +149,7 @@
<body1>left_wheel</body1>
<body2>chassis_body</body2>
<anchor>left_wheel</anchor>
- <anchorOffset>0 0.04 0</anchorOffset>
+ <anchorOffset>0 0 0.04</anchorOffset>
<axis>0 1 0</axis>
<erp>0.8</erp>
<cfm>10e-5</cfm>
@@ -159,7 +159,7 @@
<body1>right_wheel</body1>
<body2>chassis_body</body2>
<anchor>right_wheel</anchor>
- <anchorOffset>0 -0.04 0</anchorOffset>
+ <anchorOffset>0 0 -0.04</anchorOffset>
<axis>0 1 0</axis>
<erp>0.8</erp>
<cfm>10e-5</cfm>
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