Revision: 8499
http://playerstage.svn.sourceforge.net/playerstage/?rev=8499&view=rev
Author: natepak
Date: 2010-01-13 16:26:39 +0000 (Wed, 13 Jan 2010)
Log Message:
-----------
Modified build to use either the internal version of assimp, or an externally
built version
Modified Paths:
--------------
code/gazebo/trunk/3rd_party/assimp/include/CMakeLists.txt
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/config.h.in
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
Modified: code/gazebo/trunk/3rd_party/assimp/include/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/3rd_party/assimp/include/CMakeLists.txt 2010-01-13
05:04:28 UTC (rev 8498)
+++ code/gazebo/trunk/3rd_party/assimp/include/CMakeLists.txt 2010-01-13
16:26:39 UTC (rev 8499)
@@ -1,4 +1,4 @@
-INCLUDE (${gazebo_cmake_dir}/GazeboUtils.cmake)
+include (${gazebo_cmake_dir}/GazeboUtils.cmake)
add_subdirectory(assimp)
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2010-01-13 05:04:28 UTC (rev 8498)
+++ code/gazebo/trunk/CMakeLists.txt 2010-01-13 16:26:39 UTC (rev 8499)
@@ -11,39 +11,39 @@
SET (GAZEBO_VERSION 0.9.0)
MESSAGE (STATUS "${PROJECT_NAME} version ${GAZEBO_VERSION}")
-SET (BUILD_GAZEBO ON CACHE INTERNAL "Build Gazebo" FORCE)
+set (BUILD_GAZEBO ON CACHE INTERNAL "Build Gazebo" FORCE)
-SET (gazeboserver_sources_desc "List of server sources"
+set (gazeboserver_sources_desc "List of server sources"
CACHE INTERNAL "Gazebo server sources list description" FORCE)
-SET (gazeboserver_headers_desc "List of server headers"
+set (gazeboserver_headers_desc "List of server headers"
CACHE INTERNAL "Gazebo server headers list description" FORCE)
-SET (gazeboserver_include_dirs_desc "List of server include directories"
+set (gazeboserver_include_dirs_desc "List of server include directories"
CACHE INTERNAL "Include dirs description")
-SET (gazeboserver_link_dirs_desc "List of server link directories"
+set (gazeboserver_link_dirs_desc "List of server link directories"
CACHE INTERNAL "Link dirs description" FORCE)
-SET (gazeboserver_link_libs_desc "List of server link libraries"
+set (gazeboserver_link_libs_desc "List of server link libraries"
CACHE INTERNAL "Link libs description" FORCE)
-SET (gazeboserver_cflags_desc "List of server cflags"
+set (gazeboserver_cflags_desc "List of server cflags"
CACHE INTERNAL "Server cflags description" FORCE)
-SET (gazebosensor_sources_desc "List of sensor sources"
+set (gazebosensor_sources_desc "List of sensor sources"
CACHE INTERNAL "Gazebo sensor sources list description" FORCE)
-SET (gazebocontroller_sources_desc "List of controller sources"
+set (gazebocontroller_sources_desc "List of controller sources"
CACHE INTERNAL "Gazebo controller sources list description" FORCE)
-SET (bullet_link_libs_desc "List of bullet link libraries"
+set (bullet_link_libs_desc "List of bullet link libraries"
CACHE INTERNAL "Bullet link libs description" FORCE)
-SET (OGRE_VERSION 1.6.3 CACHE INTERNAL "Ogre version requirement" FORCE)
+set (MIN_OGRE_VERSION 1.6.3 CACHE INTERNAL "Ogre version requirement" FORCE)
-SET (FREEIMAGE_MAJOR_VERSION 3 CACHE INTERNAL "FreeImage major version
requirement" FORCE)
-SET (FREEIMAGE_MINOR_VERSION 9 CACHE INTERNAL "FreeImage minor version
requirement" FORCE)
-SET (FREEIMAGE_VERSION ${FREEIMAGE_MAJOR_VERSION}.${FREEIMAGE_MINOR_VERSION}.0
CACHE INTERNAL "FreeImage version requirement" FORCE)
-SET (ODE_VERSION 0.10.1 CACHE INTERNAL "ODE version requirement" FORCE)
-SET (MIN_BOOST_VERSION 1.35.0 CACHE INTERNAL "Boost min version requirement"
FORCE)
+set (FREEIMAGE_MAJOR_VERSION 3 CACHE INTERNAL "FreeImage major version
requirement" FORCE)
+set (FREEIMAGE_MINOR_VERSION 9 CACHE INTERNAL "FreeImage minor version
requirement" FORCE)
+set (FREEIMAGE_VERSION ${FREEIMAGE_MAJOR_VERSION}.${FREEIMAGE_MINOR_VERSION}.0
CACHE INTERNAL "FreeImage version requirement" FORCE)
+set (ODE_VERSION 0.10.1 CACHE INTERNAL "ODE version requirement" FORCE)
+set (MIN_BOOST_VERSION 1.35.0 CACHE INTERNAL "Boost min version requirement"
FORCE)
-SET (ENABLE_BINDINGS OFF CACHE BOOL "Enable libgazebo bindings")
+set (ENABLE_BINDINGS OFF CACHE BOOL "Enable libgazebo bindings")
-SET (gazebo_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH
+set (gazebo_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH
"Location of CMake scripts")
INCLUDE (${gazebo_cmake_dir}/DissectVersion.cmake)
@@ -95,24 +95,28 @@
message (STATUS "Cmake C Flags:${CMAKE_C_FLAGS}")
- IF (BUILD_GAZEBO)
- #ADD_SUBDIRECTORY(3rd_party)
- ADD_SUBDIRECTORY(libgazebo)
- ADD_SUBDIRECTORY(server)
- ADD_SUBDIRECTORY(worlds)
- ADD_SUBDIRECTORY(Media)
+ if (BUILD_GAZEBO)
+
+ if (use_internal_assimp)
+ add_subdirectory(3rd_party)
+ endif (use_internal_assimp)
+
+ add_subdirectory(libgazebo)
+ add_subdirectory(server)
+ add_subdirectory(worlds)
+ add_subdirectory(Media)
- IF (INCLUDE_PLAYER)
- ADD_SUBDIRECTORY(player)
- ENDIF (INCLUDE_PLAYER)
+ if (INCLUDE_PLAYER)
+ add_subdirectory(player)
+ endif (INCLUDE_PLAYER)
- IF (INCLUDE_WEBGAZEBO)
- Add_SUBDIRECTORY(webgazebo)
- ENDIF (INCLUDE_WEBGAZEBO)
+ if (INCLUDE_WEBGAZEBO)
+ add_subdirectory(webgazebo)
+ endif (INCLUDE_WEBGAZEBO)
- MESSAGE (STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
- MESSAGE (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}")
- ENDIF (BUILD_GAZEBO)
+ message (STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+ message (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}")
+ endif (BUILD_GAZEBO)
# Cpack stuff
INCLUDE (InstallRequiredSystemLibraries)
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-01-13 05:04:28 UTC
(rev 8498)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-01-13 16:26:39 UTC
(rev 8499)
@@ -12,33 +12,35 @@
#endif (NOT FLTK_FOUND)
-SET (INCLUDE_WEBGAZEBO ON CACHE BOOL "Build webgazebo" FORCE)
-SET (OGRE_LIBRARY_PATH "/usr/local/lib" CACHE INTERNAL "Ogre library path")
+set (use_internal_assimp OFF CACHE BOOL "Use internal assimp" FORCE)
-SET (assimp_include_dirs "" CACHE STRING "Assimp include paths. Use this to
override automatic detection.")
-SET (assimp_library_dirs "" CACHE STRING "Assimp library paths. Use this to
override automatic detection.")
-SET (assimp_libraries "" CACHE STRING "Assimp libraries Use this to override
automatic detection.")
+set (INCLUDE_WEBGAZEBO ON CACHE BOOL "Build webgazebo" FORCE)
+set (OGRE_LIBRARY_PATH "/usr/local/lib" CACHE INTERNAL "Ogre library path")
-SET (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to
override automatic detection.")
-SET (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to
override automatic detection.")
-SET (boost_libraries "" CACHE STRING "Boost libraries. Use this to override
automatic detection.")
-SET (bullet_dynamics_dirs "" CACHE STRING "Bullet Dynamics libraries. Use this
to override automatic detection.")
-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 "-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.")
+set (assimp_include_dirs "" CACHE STRING "Assimp include paths. Use this to
override automatic detection.")
+set (assimp_library_dirs "" CACHE STRING "Assimp library paths. Use this to
override automatic detection.")
+set (assimp_libraries "" CACHE STRING "Assimp libraries Use this to override
automatic detection.")
+set (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to
override automatic detection.")
+set (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to
override automatic detection.")
+set (boost_libraries "" CACHE STRING "Boost libraries. Use this to override
automatic detection.")
+set (bullet_dynamics_dirs "" CACHE STRING "Bullet Dynamics libraries. Use this
to override automatic detection.")
+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 "-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.")
+
########################################
# Find packages
-IF (PKG_CONFIG_FOUND)
+if (PKG_CONFIG_FOUND)
- pkg_check_modules(OGRE OGRE>=${OGRE_VERSION})
- IF (NOT OGRE_FOUND)
- BUILD_ERROR("Ogre3d version >=${OGRE_VERSION} and development files not
found. See the following website for installation instructions:
http://www.orge3d.org";)
- ELSE (NOT OGRE_FOUND)
+ pkg_check_modules(OGRE OGRE>=${MIN_OGRE_VERSION})
+ if (NOT OGRE_FOUND)
+ BUILD_ERROR("Ogre3d version >=${MIN_OGRE_VERSION} and development files
not found. See the following website for installation instructions:
http://www.orge3d.org";)
+ else (NOT OGRE_FOUND)
- SET (OGRE_LIBRARY_PATH ${OGRE_LIBRARY_DIRS} CACHE INTERNAL "Ogre library
path")
+ set (OGRE_LIBRARY_PATH ${OGRE_LIBRARY_DIRS} CACHE INTERNAL "Ogre library
path")
APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
${gazeboserver_include_dirs_desc}
@@ -55,7 +57,7 @@
APPEND_TO_CACHED_LIST(gazeboserver_link_libs
${gazeboserver_link_libs_desc}
${OGRE_LDFLAGS})
- ENDIF (NOT OGRE_FOUND)
+ endif (NOT OGRE_FOUND)
pkg_check_modules(XML libxml-2.0)
IF (NOT XML_FOUND)
@@ -343,35 +345,39 @@
########################################
# Find assimp
-IF (NOT assimp_include_dirs AND NOT assimp_library_dirs AND NOT
assimp_libraries )
+if (NOT assimp_include_dirs AND NOT assimp_library_dirs AND NOT
assimp_libraries )
- FIND_PATH(assimp_include_dir assimp.h ${assimp_include_dirs} ENV CPATH)
+ find_path(assimp_include_dir assimp.h ${assimp_include_dirs} ENV CPATH)
- IF (NOT assimp_include_dir)
- BUILD_ERROR("assimp not found. See the following website for installation
instructions: http://assimp.sourceforge.net";)
- MESSAGE (STATUS "Looking for assimp.h - not found")
- SET (assimp_include_dirs /usr/include CACHE STRING
+ if (NOT assimp_include_dir)
+ #BUILD_ERROR("assimp not found. See the following website for installation
instructions: http://assimp.sourceforge.net";)
+ message (STATUS "Looking for assimp.h - not found. Using built in
version.")
+ set (assimp_include_dirs /usr/include CACHE STRING
"Assimp include paths. Use this to override automatic detection.")
- ELSE (NOT assimp_include_dir)
- MESSAGE (STATUS "Looking for assimp.h - found")
+ else (NOT assimp_include_dir)
+ message (STATUS "Looking for assimp.h - found")
set (assim_include_dirs ${assimp_include_dir} CACHE STRING
"Assimp include paths. Use this to override automatic detection.")
- ENDIF (NOT assimp_include_dir)
+ endif (NOT assimp_include_dir)
- FIND_LIBRARY(assimp_library assimp ENV LD_LIBRARY_PATH)
+ find_library(assimp_library assimp ENV LD_LIBRARY_PATH)
- IF (NOT assimp_library)
- MESSAGE (STATUS "Looking for libassimp - not found")
- BUILD_ERROR("libassimp not found. See the following website for
installation instructions: http://assimp.sourceforge.net";)
- ELSE (NOT assimp_library)
- MESSAGE (STATUS "Looking for libassimp - found")
+ if (NOT assimp_library)
+ message (STATUS "Looking for libassimp - not found. Using builtin
version.")
+ #BUILD_ERROR("libassimp not found. See the following website for
installation instructions: http://assimp.sourceforge.net";)
+ else (NOT assimp_library)
+ message (STATUS "Looking for libassimp - found")
APPEND_TO_CACHED_LIST(assimp_libraries
"Assimp libraries Use this to override automatic
detection."
${assimp_library})
- ENDIF (NOT assimp_library)
-
-ENDIF (NOT assimp_include_dirs AND NOT assimp_library_dirs AND NOT
assimp_libraries )
+ endif (NOT assimp_library)
+
+ if (NOT assimp_include_dir AND NOT assimp_library)
+ set (use_internal_assimp ON CACHE BOOL "Use internal assimp" FORCE)
+ endif (NOT assimp_include_dir AND NOT assimp_library)
+endif (NOT assimp_include_dirs AND NOT assimp_library_dirs AND NOT
assimp_libraries )
+
########################################
# Find bullet
FIND_PATH( bullet_include_dir btBulletDynamicsCommon.h ${bullet_include_dirs}
ENV CPATH)
Modified: code/gazebo/trunk/config.h.in
===================================================================
--- code/gazebo/trunk/config.h.in 2010-01-13 05:04:28 UTC (rev 8498)
+++ code/gazebo/trunk/config.h.in 2010-01-13 16:26:39 UTC (rev 8499)
@@ -6,6 +6,6 @@
#cmakedefine HAVE_OPENAL 1
#cmakedefine HAVE_FFMPEG 1
#cmakedefine HAVE_LTDL 1
-#cmakedefine ENABLE_SHADOWS 0
+#cmakedefine ENABLE_SHADOWS 1
#cmakedefine INCLUDE_BULLET 0
#cmakedefine INCLUDE_ODE 1
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2010-01-13 05:04:28 UTC (rev
8498)
+++ code/gazebo/trunk/server/CMakeLists.txt 2010-01-13 16:26:39 UTC (rev
8499)
@@ -20,7 +20,6 @@
sensors/imu
sensors/ir
sensors/ray
- #${CMAKE_SOURCE_DIR}/3rd_party/assimp/include
${LIBAVCODEC_PATH}
${LIBAVFORMAT_PATH}
${libtool_include_path}
@@ -34,7 +33,6 @@
)
LINK_DIRECTORIES(
- #${CMAKE_BINARY_DIR}/3rd_party/assimp
${CMAKE_BINARY_DIR}/libgazebo
${CMAKE_BINARY_DIR}/server/gui
${CMAKE_BINARY_DIR}/server/physics/bullet
@@ -48,6 +46,12 @@
${gazeboserver_link_dirs}
)
+if (use_internal_assimp)
+ include_directories( ${CMAKE_SOURCE_DIR}/3rd_party/assimp/include/assimp)
+ link_directories( ${CMAKE_BINARY_DIR}/3rd_party/assimp )
+endif (use_internal_assimp)
+
+
########################################
# All the library search paths
ADD_SUBDIRECTORY(rendering)
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-01-13 05:04:28 UTC
(rev 8498)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-01-13 16:26:39 UTC
(rev 8499)
@@ -35,6 +35,8 @@
#include <iostream>
#include <string.h>
+#include "config.h"
+
#include "OgreVisual.hh"
#include "UserCamera.hh"
#include "OgreMovableText.hh"
@@ -400,15 +402,23 @@
}
}
+#define OGRE_VERSION_MAJOR 1
+#define OGRE_VERSION_MINOR 7
////////////////////////////////////////////////////////////////////////////////
// Setup render system
void OgreAdaptor::SetupRenderSystem()
{
Ogre::RenderSystem *renderSys;
+ const Ogre::RenderSystemList *rsList;
// Set parameters of render system (window size, etc.)
- Ogre::RenderSystemList *rsList = this->root->getAvailableRenderers();
+#if OGRE_VERSION_MAJOR == 1 && OGRE_VERSION_MINOR == 6
+ rsList = this->root->getAvailableRenderers();
+#else
+ rsList = &(this->root->getAvailableRenderers());
+#endif
+
int c = 0;
renderSys = NULL;
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2010-01-13 05:04:28 UTC (rev 8498)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2010-01-13 16:26:39 UTC (rev 8499)
@@ -259,7 +259,12 @@
autoParamDataSource.setCurrentRenderTarget(this->renderTargets[i]);
autoParamDataSource.setCurrentSceneManager(sceneMgr);
autoParamDataSource.setCurrentCamera(this->GetOgreCamera(), true);
+
+#if OGRE_VERSION_MAJOR == 1 && OGRE_VERSION_MINOR == 6
pass->_updateAutoParamsNoLights(&autoParamDataSource);
+#else
+ pass->_updateAutoParams(&autoParamDataSource,1);
+#endif
renderSys->setLightingEnabled(false);
renderSys->_setFog(Ogre::FOG_NONE);
@@ -271,16 +276,30 @@
// NOTE: We MUST bind parameters AFTER updating the autos
if (pass->hasVertexProgram())
{
- renderSys->bindGpuProgram(
pass->getVertexProgram()->_getBindingDelegate() );
+ renderSys->bindGpuProgram(
+ pass->getVertexProgram()->_getBindingDelegate() );
+
+#if OGRE_VERSION_MAJOR == 1 && OGRE_VERSION_MINOR == 6
renderSys->bindGpuProgramParameters(Ogre::GPT_VERTEX_PROGRAM,
pass->getVertexProgramParameters());
+#else
+ renderSys->bindGpuProgramParameters(Ogre::GPT_VERTEX_PROGRAM,
+ pass->getVertexProgramParameters(), 1);
+#endif
}
if (pass->hasFragmentProgram())
{
- renderSys->bindGpuProgram(
pass->getFragmentProgram()->_getBindingDelegate() );
+ renderSys->bindGpuProgram(
+ pass->getFragmentProgram()->_getBindingDelegate() );
+
+#if OGRE_VERSION_MAJOR == 1 && OGRE_VERSION_MINOR == 6
renderSys->bindGpuProgramParameters(Ogre::GPT_FRAGMENT_PROGRAM,
- pass->getFragmentProgramParameters());
+ pass->getFragmentProgramParameters());
+#else
+ renderSys->bindGpuProgramParameters(Ogre::GPT_FRAGMENT_PROGRAM,
+ pass->getFragmentProgramParameters(), 1);
+#endif
}
this->renderTargets[i]->update();
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