Revision: 8524
http://playerstage.svn.sourceforge.net/playerstage/?rev=8524&view=rev
Author: natepak
Date: 2010-01-20 16:38:39 +0000 (Wed, 20 Jan 2010)
Log Message:
-----------
Applied patch from John Hsu
Modified Paths:
--------------
code/gazebo/trunk/server/AssimpLoader.cc
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/MeshManager.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/gui/MainMenu.cc
code/gazebo/trunk/server/gui/MainMenu.hh
code/gazebo/trunk/server/rendering/Light.cc
code/gazebo/trunk/server/rendering/Light.hh
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/AssimpLoader.cc
===================================================================
--- code/gazebo/trunk/server/AssimpLoader.cc 2010-01-20 00:06:34 UTC (rev
8523)
+++ code/gazebo/trunk/server/AssimpLoader.cc 2010-01-20 16:38:39 UTC (rev
8524)
@@ -61,7 +61,8 @@
{
aiString matName;
amat->Get(AI_MATKEY_NAME, matName);
- mat->SetName(matName.data);
+ std::string uniqueMatName = filename + matName.data;
+ mat->SetName(uniqueMatName);
}
else if (propKey == "$clr.diffuse")
{
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2010-01-20 00:06:34 UTC (rev 8523)
+++ code/gazebo/trunk/server/Entity.cc 2010-01-20 16:38:39 UTC (rev 8524)
@@ -70,7 +70,6 @@
this->visualNode = OgreCreator::Instance()->CreateVisual(
visname.str(), NULL, this );
}
-
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/MeshManager.cc
===================================================================
--- code/gazebo/trunk/server/MeshManager.cc 2010-01-20 00:06:34 UTC (rev
8523)
+++ code/gazebo/trunk/server/MeshManager.cc 2010-01-20 16:38:39 UTC (rev
8524)
@@ -55,7 +55,17 @@
std::string extension;
if (this->HasMesh(filename))
- return this->meshes[filename];
+ {
+ //return this->meshes[filename];
+
+ // erase mesh from this->meshes. This allows a mesh to be modified and
+ // inserted into gazebo again without closing gazebo.
+ std::map<std::string, Mesh*>::iterator iter;
+ iter = this->meshes.find(filename);
+ delete iter->second;
+ iter->second = NULL;
+ this->meshes.erase(iter);
+ }
fullname = std::string("./")+filename;
if (stat(fullname.c_str(), &st) == 0)
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2010-01-20 00:06:34 UTC (rev 8523)
+++ code/gazebo/trunk/server/Model.cc 2010-01-20 16:38:39 UTC (rev 8524)
@@ -145,6 +145,9 @@
delete this->myBodyNameP;
this->myBodyNameP = NULL;
}
+
+ if (this->light)
+ OgreCreator::Instance()->DeleteLight(this->light);
}
////////////////////////////////////////////////////////////////////////////////
@@ -1065,7 +1068,7 @@
if (Simulator::Instance()->GetRenderEngineEnabled() &&
(childNode = node->GetChild("light")))
{
- this->light = new Light(body);
+ this->light = OgreCreator::Instance()->CreateLight(body);
this->light->Load(childNode);
}
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-01-20 00:06:34 UTC (rev 8523)
+++ code/gazebo/trunk/server/World.cc 2010-01-20 16:38:39 UTC (rev 8524)
@@ -60,6 +60,7 @@
this->showBoundingBoxes = false;
this->showJoints = false;
this->showContacts = false;
+ this->showLights = false;
this->wireframe = false;
this->showPhysics = false;
this->physicsEngine = NULL;
@@ -729,6 +730,21 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set whether to show the light source visuals
+void World::SetShowLights(bool show)
+{
+ this->showLights = show;
+ this->showLightsSignal(this->showLights);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get whether to show the light source visuals
+bool World::GetShowLights() const
+{
+ return this->showLights;
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Set to view as wireframe
void World::SetWireframe( bool wire )
{
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2010-01-20 00:06:34 UTC (rev 8523)
+++ code/gazebo/trunk/server/World.hh 2010-01-20 16:38:39 UTC (rev 8524)
@@ -194,6 +194,12 @@
/// \brief Get whether to show the contacts
public: bool GetShowContacts() const;
+ /// \brief Set whether to show the light source visuals
+ public: void SetShowLights(bool show);
+
+ /// \brief Get whether to show the light source visuals
+ public: bool GetShowLights() const;
+
/// \brief Set to view as wireframe
public: void SetWireframe( bool wire );
@@ -226,6 +232,8 @@
private: bool showContacts;
+ private: bool showLights;
+
private: bool showPhysics;
private: bool wireframe;
@@ -253,6 +261,13 @@
addEntitySignal.connect(subscriber);
}
+ /// \brief Connect a boost::slot the the show light source signal
+ public: template<typename T>
+ void ConnectShowLightsSignal( T subscriber )
+ {
+ showLightsSignal.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);
@@ -301,6 +316,7 @@
private: friend class SingletonT<World>;
private: boost::signal<void (Entity*)> addEntitySignal;
+ private: boost::signal<void (bool)> showLightsSignal;
private: std::deque<WorldState> worldStates;
private: std::deque<WorldState>::iterator worldStatesInsertIter;
Modified: code/gazebo/trunk/server/gui/MainMenu.cc
===================================================================
--- code/gazebo/trunk/server/gui/MainMenu.cc 2010-01-20 00:06:34 UTC (rev
8523)
+++ code/gazebo/trunk/server/gui/MainMenu.cc 2010-01-20 16:38:39 UTC (rev
8524)
@@ -63,6 +63,7 @@
{ "Show Bounding Boxes", 0, &gazebo::MainMenu::ShowBoundingBoxesCB,0,
FL_MENU_TOGGLE, FL_NORMAL_LABEL, 0, 14, 0},
{ "Show Joints", 0, &gazebo::MainMenu::ShowJointsCB,0, FL_MENU_TOGGLE,
FL_NORMAL_LABEL, 0, 14, 0},
{ "Show Contacts", 0, &gazebo::MainMenu::ShowContactsCB,0, FL_MENU_TOGGLE,
FL_NORMAL_LABEL, 0, 14, 0},
+ { "Show Lights", 0, &gazebo::MainMenu::ShowLightsCB,0, FL_MENU_TOGGLE,
FL_NORMAL_LABEL, 0, 14, 0},
{ 0 },
{ 0 }
@@ -159,3 +160,10 @@
{
World::Instance()->SetShowContacts( !World::Instance()->GetShowContacts() );
}
+
+////////////////////////////////////////////////////////////////////////////////
+// View the light source visuals
+void MainMenu::ShowLightsCB(Fl_Widget * /*w*/, void * /*data*/)
+{
+ World::Instance()->SetShowLights( !World::Instance()->GetShowLights() );
+}
Modified: code/gazebo/trunk/server/gui/MainMenu.hh
===================================================================
--- code/gazebo/trunk/server/gui/MainMenu.hh 2010-01-20 00:06:34 UTC (rev
8523)
+++ code/gazebo/trunk/server/gui/MainMenu.hh 2010-01-20 16:38:39 UTC (rev
8524)
@@ -57,6 +57,8 @@
public: static void ShowContactsCB(Fl_Widget * /*w*/, void * /*data*/);
+ public: static void ShowLightsCB(Fl_Widget * /*w*/, void * /*data*/);
+
};
}
Modified: code/gazebo/trunk/server/rendering/Light.cc
===================================================================
--- code/gazebo/trunk/server/rendering/Light.cc 2010-01-20 00:06:34 UTC (rev
8523)
+++ code/gazebo/trunk/server/rendering/Light.cc 2010-01-20 16:38:39 UTC (rev
8524)
@@ -1,5 +1,7 @@
#include <Ogre.h>
+#include <boost/bind.hpp>
+#include "World.hh"
#include "Model.hh"
#include "OgreDynamicLines.hh"
#include "OgreVisual.hh"
@@ -26,6 +28,8 @@
this->SetName(stream.str());
this->lightCounter++;
+
+ World::Instance()->ConnectShowLightsSignal( boost::bind(&Light::ShowVisual,
this, _1) );
}
////////////////////////////////////////////////////////////////////////////////
@@ -223,6 +227,9 @@
this->line->setVisibilityFlags(GZ_LASER_CAMERA);
this->visual->AttachObject(line);
+
+ // turn off light source box visuals by default
+ this->visual->SetVisible(false);
}
////////////////////////////////////////////////////////////////////////////////
@@ -237,4 +244,9 @@
this->line->setMaterial("Gazebo/WhiteEmissive");
}
-
+////////////////////////////////////////////////////////////////////////////////
+// Set whether to show the visual
+void Light::ShowVisual(bool s)
+{
+ this->visual->SetVisible(s);
+}
Modified: code/gazebo/trunk/server/rendering/Light.hh
===================================================================
--- code/gazebo/trunk/server/rendering/Light.hh 2010-01-20 00:06:34 UTC (rev
8523)
+++ code/gazebo/trunk/server/rendering/Light.hh 2010-01-20 16:38:39 UTC (rev
8524)
@@ -21,10 +21,10 @@
class Light : public Entity
{
/// \brief Constructor
- public: Light(Entity *parent);
+ private: Light(Entity *parent);
/// \brief Destructor
- public: virtual ~Light();
+ private: virtual ~Light();
/// \brief Load the light
public: void Load(XMLConfigNode *node);
@@ -36,6 +36,9 @@
/// the gui
public: virtual bool SetSelected( bool s );
+ /// \brief Set whether to show the visual
+ public: void ShowVisual(bool s);
+
/// \private Helper node to create a visual representation of the light
private: void CreateVisual();
@@ -47,6 +50,8 @@
private: OgreDynamicLines *line;
private: static unsigned int lightCounter;
+
+ private: friend class OgreCreator;
};
}
#endif
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-01-20 00:06:34 UTC
(rev 8523)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-01-20 16:38:39 UTC
(rev 8524)
@@ -365,6 +365,7 @@
}
closedir(dir);
+ archNames.push_back((*iter)+"/");
archNames.push_back((*iter)+"/Media");
archNames.push_back((*iter)+"/Media/fonts");
archNames.push_back((*iter)+"/Media/materials/programs");
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2010-01-20 00:06:34 UTC
(rev 8523)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2010-01-20 16:38:39 UTC
(rev 8524)
@@ -34,6 +34,7 @@
#include "config.h"
+#include "Light.hh"
#include "Material.hh"
#include "Simulator.hh"
#include "Global.hh"
@@ -108,109 +109,31 @@
////////////////////////////////////////////////////////////////////////////////
/// Create a light source and attach it to the visual node
-/// Note that the properties here are not modified afterwards and thus,
-/// we don't need a Light class.
-//std::string OgreCreator::CreateLight(XMLConfigNode *node, OgreVisual *parent)
-//{
- /*if (!Simulator::Instance()->GetRenderEngineEnabled())
- return std::string();
+Light *OgreCreator::CreateLight(Entity *parent)
+{
+ Light *newLight = new Light(parent);
+ this->lights.push_back(newLight);
+ return newLight;
+}
- Light *light = new Light(parent);
- light->Load(node);
- this->lights.push_back(light);
+////////////////////////////////////////////////////////////////////////////////
+// Remove a light
+void OgreCreator::DeleteLight(Light *light)
+{
+ if (!light)
+ return;
- return light->GetName();
- */
-
- /*
- Vector3 vec;
- double range,constant,linear,quad;
- Ogre::Light *light;
-
- // Create the light
- std::ostringstream stream;
- stream << parent->GetName() << "_LIGHT" << lightCounter;
- lightCounter++;
-
- try
+ std::list<Light*>::iterator iter;
+ for (iter = this->lights.begin(); iter != this->lights.end(); iter++)
{
- light = OgreAdaptor::Instance()->sceneMgr->createLight(stream.str());
- }
- catch (Ogre::Exception e)
- {
- gzthrow("Ogre Error:" << e.getFullDescription() << "\n" << \
- "Unable to create a light on " + parent->GetName());
+ if (*iter == light)
+ {
+ this->lights.erase(iter);
+ break;
+ }
}
-
- // Set the light type
- std::string lightType = node->GetString("type","point",0);
- if (lightType == "point")
- {
- light->setType(Ogre::Light::LT_POINT);
- }
- else if (lightType == "directional")
- {
- light->setType(Ogre::Light::LT_DIRECTIONAL);
- }
- else if (lightType == "spot")
- {
- light->setType(Ogre::Light::LT_SPOTLIGHT);
- }
+}
- // Set the diffuse color
- vec = node->GetVector3("diffuseColor",Vector3(1.0, 1.0, 1.0));
- light->setDiffuseColour(vec.x, vec.y, vec.z);
-
- // Sets the specular color
- vec = node->GetVector3("specularColor",Vector3(1.0, 1.0, 1.0));
- light->setSpecularColour(vec.x, vec.y, vec.z);
-
- // Set the direction which the light points
- vec = node->GetVector3("direction", Vector3(0.0, 0.0, -1.0));
- vec.Normalize();
- light->setDirection(vec.x, vec.y, vec.z);
-
- // Absolute range of light in world coordinates
- range = node->GetDouble("range",0,100);
-
- // Constant factor. 1.0 means never attenuate, 0.0 is complete attenuation
- constant = node->GetTupleDouble("attenuation",0,1.0);
- if (constant < 0)
- constant = 0;
- else if (constant > 1.0)
- constant = 1.0;
-
- // Linear factor. 1 means attenuate evenly over the distance
- linear = node->GetTupleDouble("attenuation",1,0);
- if (linear < 0)
- linear = 0;
- else if (linear > 1.0)
- linear = 1.0;
-
- // Quadartic factor.adds a curvature to the attenuation formula
- quad = node->GetTupleDouble("attenuation",2,0);
-
- // Set attenuation
- light->setAttenuation(range, constant, linear, quad);
-
- // TODO: More options for Spot lights, etc.
- // options for spotlights
- if (lightType == "spot")
- {
- vec = node->GetVector3("spotCone", Vector3(5.0, 10.0, 1.0));
- light->setSpotlightRange(Ogre::Radian(Ogre::Degree(vec.x)),
- Ogre::Radian(Ogre::Degree(vec.y)), vec.z);
- }
-
- light->setCastShadows(node->GetBool("castShadows",true,0));
-
- parent->AttachObject(light);
-
- return stream.str();
- */
-//}
-
-
////////////////////////////////////////////////////////////////////////////////
// Helper function to create a camera
Ogre::Camera *OgreCreator::CreateCamera(const std::string &name,
@@ -750,6 +673,7 @@
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
// separate thread.
Modified: code/gazebo/trunk/server/rendering/OgreCreator.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.hh 2010-01-20 00:06:34 UTC
(rev 8523)
+++ code/gazebo/trunk/server/rendering/OgreCreator.hh 2010-01-20 16:38:39 UTC
(rev 8524)
@@ -53,6 +53,7 @@
class OgreVisual;
class OgreMovableText;
class OgreDynamicLines;
+ class Light;
/// \addtogroup gazebo_rendering
/// \{
@@ -76,11 +77,13 @@
const Vector2<double> &size, const Vector2<double> &segments,
const Vector2<double> &uvTile, const std::string &material,
bool castShadows, OgreVisual *parent, const std::string &name);
-
- /// \brief Create a light source
- /// \return The name of the light source
- //public: static std::string CreateLight(XMLConfigNode *node, OgreVisual
*parent);
+ /// \brief Create a light source and attach it to the visual node
+ public: Light *CreateLight(Entity *parent);
+
+ /// \brief Remove a light
+ public: void DeleteLight(Light *light);
+
/// \brief Helper function to create a camera
public: static Ogre::Camera *CreateCamera(const std::string &name,
double nearClip, double farClip, double hfov,
@@ -162,12 +165,15 @@
// List of all the movable text
private: std::list<OgreMovableText*> text;
+ // List of all the light sources
+ private: std::list<Light*> lights;
+
// All the visuals
private: std::map<std::string, OgreVisual*> visuals;
// All the windows
private: std::list<Ogre::RenderWindow *> windows;
-
+
private: friend class DestroyerT<OgreCreator>;
private: friend class SingletonT<OgreCreator>;
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