Revision: 8607
http://playerstage.svn.sourceforge.net/playerstage/?rev=8607&view=rev
Author: natepak
Date: 2010-04-10 21:07:58 +0000 (Sat, 10 Apr 2010)
Log Message:
-----------
Cleaned up the deletion of models
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/benchmarks/CMakeLists.txt
code/gazebo/trunk/benchmarks/box_pile_benchmark.cc
code/gazebo/trunk/benchmarks/camera_benchmark.cc
code/gazebo/trunk/benchmarks/laser_benchmark.cc
code/gazebo/trunk/libgazebo/CMakeLists.txt
code/gazebo/trunk/libgazebo/Iface.cc
code/gazebo/trunk/libgazebo/Server.cc
code/gazebo/trunk/libgazebo/SimIface.cc
code/gazebo/trunk/libgazebo/gz.h
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/Entity.hh
code/gazebo/trunk/server/GazeboConfig.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/main.cc
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/Geom.hh
code/gazebo/trunk/server/physics/RayShape.cc
code/gazebo/trunk/server/physics/Shape.cc
code/gazebo/trunk/server/physics/ode/ODEBody.cc
code/gazebo/trunk/server/physics/ode/ODEMultiRayShape.cc
code/gazebo/trunk/server/physics/ode/ODERayShape.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/RTShaderSystem.cc
code/gazebo/trunk/server/rendering/RTShaderSystem.hh
code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2010-04-02 15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/CMakeLists.txt 2010-04-10 21:07:58 UTC (rev 8607)
@@ -16,6 +16,8 @@
message (STATUS "${PROJECT_NAME} version ${GAZEBO_VERSION}")
+set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON)
+
set (BUILD_GAZEBO ON CACHE INTERNAL "Build Gazebo" FORCE)
set (gazeboserver_sources_desc "List of server sources"
@@ -104,6 +106,7 @@
message (STATUS "Cmake C Flags:${CMAKE_C_FLAGS}")
if (BUILD_GAZEBO)
+ include (libgazebo)
if (use_internal_assimp)
add_subdirectory(3rd_party)
@@ -112,6 +115,7 @@
add_subdirectory(libgazebo)
add_subdirectory(server)
add_subdirectory(worlds)
+ add_subdirectory(tools)
add_subdirectory(Media)
if (INCLUDE_PLAYER)
Modified: code/gazebo/trunk/benchmarks/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/benchmarks/CMakeLists.txt 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/benchmarks/CMakeLists.txt 2010-04-10 21:07:58 UTC (rev
8607)
@@ -1,4 +1,4 @@
-project(factory)
+project(benchmarks)
cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
@@ -21,7 +21,11 @@
include_directories(.)
-set (sources laser_benchmark.cc box_grid_benchmark.cc box_pile_benchmark.cc
joint_chain_benchmark.cc)
+set (sources laser_benchmark.cc
+ box_grid_benchmark.cc
+ box_pile_benchmark.cc
+ joint_chain_benchmark.cc
+ camera_benchmark.cc)
set_source_files_properties(${sources} PROPERTIES COMPILE_FLAGS "-ggdb -g2
-Wall")
@@ -29,8 +33,10 @@
add_executable(box_pile_benchmark box_pile_benchmark.cc)
add_executable(box_grid_benchmark box_grid_benchmark.cc)
add_executable(joint_chain_benchmark joint_chain_benchmark.cc)
+add_executable(camera_benchmark camera_benchmark.cc)
target_link_libraries(laser_benchmark ${LINK_LIBS} )
target_link_libraries(box_grid_benchmark ${LINK_LIBS} )
target_link_libraries(box_pile_benchmark ${LINK_LIBS} )
target_link_libraries(joint_chain_benchmark ${LINK_LIBS} )
+target_link_libraries(camera_benchmark ${LINK_LIBS} )
Modified: code/gazebo/trunk/benchmarks/box_pile_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/box_pile_benchmark.cc 2010-04-02 15:07:45 UTC
(rev 8606)
+++ code/gazebo/trunk/benchmarks/box_pile_benchmark.cc 2010-04-10 21:07:58 UTC
(rev 8607)
@@ -9,7 +9,7 @@
gazebo::FactoryIface *factoryIface = NULL;
int laser_count = 0;
-std::string test_name="Boxes Benchmark";
+std::string test_name="Box Pile Benchmark";
std::string xlabel = "Box Count";
std::string ylabel = "Simtime / Realtime";
std::string data_filename = "/tmp/" + test_name + ".data";
@@ -106,7 +106,7 @@
double simTime = 0;
double realTime = 0;
- for (unsigned int i=0; i < 50; i++)
+ for (unsigned int i=0; i < 30; i++)
{
simTime += simIface->data->simTime;
realTime += simIface->data->realTime;
Modified: code/gazebo/trunk/benchmarks/camera_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/camera_benchmark.cc 2010-04-02 15:07:45 UTC
(rev 8606)
+++ code/gazebo/trunk/benchmarks/camera_benchmark.cc 2010-04-10 21:07:58 UTC
(rev 8607)
@@ -31,13 +31,13 @@
std::cerr << "Error\n";
}
-void spawn_box(double x, double y, double z=10)
+void spawn_camera(double x, double y, double z=1)
{
std::ostringstream model;
model << "<model:physical name='camera" << camera_count++ << "'>";
model << " <xyz>" << x << " " << y << " " << z << "</xyz>";
- model << " <rpy>30 40 0</rpy>";
+ model << " <static>true</static>";
model << " <body:box name='body'>";
model << " <geom:box name='geom'>";
@@ -50,9 +50,13 @@
model << " </visual>";
model << " </geom:box>";
- model << " <sensor:camera name='camera'>";
+ model << " <sensor:camera name='camera" << camera_count << "'>";
+ model << " <alwaysActive>true</alwaysActive>";
model << " <imageSize>640 480</imageSize>";
- model << "
+ model << " <hfov>60</hfov>";
+ model << " <nearClip>0.1</nearClip>";
+ model << " <farClip>50</farClip>";
+ model << " </sensor:camera>";
model << " </body:box>";
model << "</model:physical>";
@@ -103,24 +107,28 @@
FILE *out = fopen(data_filename.c_str(), "w");
- for (unsigned int j=0; j < 100; j++)
+ for (int y=-10; y < 10; y++)
{
- spawn_box(j+1, 0);
+ for ( int x=-10; x < 10; x++)
+ {
+ spawn_camera(x, y);
- double simTime = 0;
- double realTime = 0;
+ double simTime = 0;
+ double realTime = 0;
- for (unsigned int i=0; i < 50; i++)
- {
- simTime += simIface->data->simTime;
- realTime += simIface->data->realTime;
+ for (unsigned int i=0; i < 50; i++)
+ {
+ simTime += simIface->data->simTime;
+ realTime += simIface->data->realTime;
- /// Wait .1 seconds
- usleep(100000);
+ /// Wait .1 seconds
+ usleep(100000);
+ }
+
+ double percent = simTime / realTime;
+ fprintf(out,"%f\n",percent);
+
}
-
- double percent = simTime / realTime;
- fprintf(out,"%f\n",percent);
}
fclose(out);
Modified: code/gazebo/trunk/benchmarks/laser_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/laser_benchmark.cc 2010-04-02 15:07:45 UTC
(rev 8606)
+++ code/gazebo/trunk/benchmarks/laser_benchmark.cc 2010-04-10 21:07:58 UTC
(rev 8607)
@@ -114,9 +114,9 @@
if (!out)
std::cerr << "Unable to open log file";
- for (int y = -5; y < 5; y++)
+ for (int y = -10; y < 10; y++)
{
- for (int x = -5; x < 5; x++)
+ for (int x = -10; x < 10; x++)
{
spawn_laser(x,y);
Modified: code/gazebo/trunk/libgazebo/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/libgazebo/CMakeLists.txt 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/libgazebo/CMakeLists.txt 2010-04-10 21:07:58 UTC (rev
8607)
@@ -1,31 +1,30 @@
-SET (sources Server.cc
+set (sources Server.cc
Client.cc
Iface.cc
IfaceFactory.cc
+ FactoryIface.cc
SimIface.cc
Graphics3dIface.cc
)
-SET (headers gz.h IfaceFactory.hh)
+set (headers gz.h IfaceFactory.hh)
-INCLUDE_DIRECTORIES(
- ${boost_include_dirs}
-)
+include_directories(${boost_include_dirs})
-IF (${ENABLE_BINDINGS})
- ADD_SUBDIRECTORY(bindings)
-ENDIF (${ENABLE_BINDINGS})
+if (${ENABLE_BINDINGS})
+ add_subdirectory(bindings)
+endif (${ENABLE_BINDINGS})
-LINK_DIRECTORIES(${boost_library_dirs})
+link_directories(${boost_library_dirs})
-ADD_LIBRARY(gazeboshm SHARED ${sources})
-SET_TARGET_PROPERTIES(gazeboshm PROPERTIES OUTPUT_NAME "gazebo" VERSION
${GAZEBO_VERSION})
+add_library(gazeboshm SHARED ${sources})
+set_target_properties(gazeboshm PROPERTIES OUTPUT_NAME "gazebo" VERSION
${GAZEBO_VERSION})
-TARGET_LINK_LIBRARIES( gazeboshm ${boost_libraries})
+target_link_libraries( gazeboshm ${boost_libraries})
-INSTALL (TARGETS gazeboshm DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
-INSTALL (FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gazebo)
+install (TARGETS gazeboshm DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+install (FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gazebo)
-CONFIGURE_FILE(${CMAKE_SOURCE_DIR}/cmake/libgazebo_pkgconfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/libgazebo.pc @ONLY)
+configure_file(${CMAKE_SOURCE_DIR}/cmake/libgazebo_pkgconfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/libgazebo.pc @ONLY)
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/libgazebo.pc DESTINATION
${CMAKE_INSTALL_PREFIX}/lib/pkgconfig COMPONENT pkgconfig)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/libgazebo.pc DESTINATION
${CMAKE_INSTALL_PREFIX}/lib/pkgconfig COMPONENT pkgconfig)
Modified: code/gazebo/trunk/libgazebo/Iface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Iface.cc 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/libgazebo/Iface.cc 2010-04-10 21:07:58 UTC (rev
8607)
@@ -240,7 +240,7 @@
this->mmapFd = 0;
// Delete the file
- std::cout << "deleting "<< this->filename << "\n";
+ //std::cout << "deleting "<< this->filename << "\n";
if (unlink(this->filename.c_str()) < 0)
{
@@ -310,7 +310,7 @@
throw(stream.str());
}
- std::ios_base::fmtflags origFlags = std::cout.flags();
+ /*std::ios_base::fmtflags origFlags = std::cout.flags();
// Print the name, version info
std::cout << "opening " << this->filename.c_str() << " "
@@ -320,6 +320,7 @@
<< ((GazeboData*) this->mMap)->size << "\n";
std::cout.setf(origFlags);
+ */
this->Lock(1);
((GazeboData*)this->mMap)->openCount++;
Modified: code/gazebo/trunk/libgazebo/Server.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Server.cc 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/libgazebo/Server.cc 2010-04-10 21:07:58 UTC (rev
8607)
@@ -174,7 +174,7 @@
{
char cmd[1024];
- std::cout << "deleting " << this->filename << "\n";
+ //std::cout << "deleting " << this->filename << "\n";
// unlink the pid file
std::string pidfn = this->filename + "/gazebo.pid";
Modified: code/gazebo/trunk/libgazebo/SimIface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/SimIface.cc 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/libgazebo/SimIface.cc 2010-04-10 21:07:58 UTC (rev
8607)
@@ -169,14 +169,14 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the 3d pose of a model
-bool SimulationIface::GetPose3d(const char *modelName, Pose &pose)
+bool SimulationIface::GetPose3d(const std::string &modelName, Pose &pose)
{
this->Lock(1);
this->data->responseCount = 0;
SimulationRequestData *request =
&(this->data->requests[this->data->requestCount++]);
request->type = SimulationRequestData::GET_POSE3D;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
@@ -192,14 +192,14 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the 2d pose of a model
-bool SimulationIface::GetPose2d(const char *modelName, Pose &pose)
+bool SimulationIface::GetPose2d(const std::string &modelName, Pose &pose)
{
this->Lock(1);
this->data->responseCount = 0;
SimulationRequestData *request =
&(this->data->requests[this->data->requestCount++]);
request->type = SimulationRequestData::GET_POSE2D;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
@@ -216,7 +216,8 @@
////////////////////////////////////////////////////////////////////////////////
/// Set the 3d pose of a model
-void SimulationIface::SetPose3d(const char *modelName, const Pose &modelPose)
+void SimulationIface::SetPose3d(const std::string &modelName,
+ const Pose &modelPose)
{
this->Lock(1);
this->data->responseCount = 0;
@@ -226,7 +227,7 @@
request->modelPose = modelPose;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
@@ -234,7 +235,8 @@
////////////////////////////////////////////////////////////////////////////////
/// Set the 2d pose of a model
-void SimulationIface::SetPose2d(const char *modelName, float x, float y, float
yaw)
+void SimulationIface::SetPose2d(const std::string &modelName,
+ float x, float y, float yaw)
{
this->Lock(1);
this->data->responseCount = 0;
@@ -243,7 +245,7 @@
request->type = gazebo::SimulationRequestData::SET_POSE2D;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
request->modelPose.pos.x = x;
@@ -255,7 +257,7 @@
////////////////////////////////////////////////////////////////////////////////
/// Set the complete state of a model
-void SimulationIface::SetState(const char *modelName, Pose &modelPose,
+void SimulationIface::SetState(const std::string &modelName, Pose &modelPose,
Vec3 &linearVel, Vec3 &angularVel, Vec3 &linearAccel,
Vec3 &angularAccel )
{
@@ -265,7 +267,7 @@
request->type = gazebo::SimulationRequestData::SET_STATE;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
if (isnan(linearVel.x)) linearVel.x = 0.0;
@@ -293,7 +295,7 @@
}
//////////////////////////////////////////////////////////////////////////////////
/// Get then children of a model
-void SimulationIface::GetChildInterfaces(const char *modelName)
+void SimulationIface::GetChildInterfaces(const std::string &modelName)
{
this->Lock(1);
@@ -302,7 +304,7 @@
request->type = gazebo::SimulationRequestData::GET_MODEL_INTERFACES;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
@@ -310,7 +312,7 @@
}
///////////////////////////////////////////////////////////////////////////////////
/// \brief Get the Type of a model e.g. "laser" "model" "fiducial"
-void SimulationIface::GetInterfaceType(const char *modelName)
+void SimulationIface::GetInterfaceType(const std::string &modelName)
{
this->Lock(1);
SimulationRequestData *request =
&(this->data->requests[this->data->requestCount++]);
@@ -318,14 +320,14 @@
request->type = gazebo::SimulationRequestData::GET_INTERFACE_TYPE;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
}
///////////////////////////////////////////////////////////////////////////////
/// Get the complete state of a model
-bool SimulationIface::GetState(const char *modelName, Pose &modelPose,
+bool SimulationIface::GetState(const std::string &modelName, Pose &modelPose,
Vec3 &linearVel, Vec3 &angularVel,
Vec3 &linearAccel, Vec3 &angularAccel )
{
@@ -335,7 +337,7 @@
request->type = gazebo::SimulationRequestData::GET_STATE;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
@@ -385,7 +387,8 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the type of this model
-bool SimulationIface::GetModelType(const char *modelName, std::string &type)
+bool SimulationIface::GetModelType(const std::string &modelName,
+ std::string &type)
{
this->Lock(1);
this->data->responseCount = 0;
@@ -395,7 +398,7 @@
request = &(this->data->requests[this->data->requestCount++]);
request->type = SimulationRequestData::GET_MODEL_TYPE;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
@@ -435,7 +438,8 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the number of children a model has
-bool SimulationIface::GetNumChildren(const char *modelName, unsigned int &num)
+bool SimulationIface::GetNumChildren(const std::string &modelName,
+ unsigned int &num)
{
this->Lock(1);
this->data->responseCount = 0;
@@ -445,7 +449,7 @@
request = &(this->data->requests[this->data->requestCount++]);
request->type = SimulationRequestData::GET_NUM_CHILDREN;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
@@ -485,7 +489,8 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the name of a child
-bool SimulationIface::GetChildName(const char *modelName, unsigned int child,
+bool SimulationIface::GetChildName(const std::string &modelName,
+ unsigned int child,
std::string &childName)
{
this->Lock(1);
@@ -497,7 +502,7 @@
request = &(this->data->requests[this->data->requestCount++]);
request->type = SimulationRequestData::GET_CHILD_NAME;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
request->uintValue = child;
this->Unlock();
@@ -514,7 +519,7 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the extents of a model
-bool SimulationIface::GetModelExtent(const char *modelName, Vec3 &ext)
+bool SimulationIface::GetModelExtent(const std::string &modelName, Vec3 &ext)
{
this->Lock(1);
this->data->responseCount = 0;
@@ -522,7 +527,7 @@
request->type = SimulationRequestData::GET_MODEL_EXTENT;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
@@ -536,7 +541,8 @@
}
////////////////////////////////////////////////////////////////////////////////
/// Get the Fiducial ID of this model
-bool SimulationIface::GetModelFiducialID(const char *modelName, unsigned int
&id)
+bool SimulationIface::GetModelFiducialID(const std::string &modelName,
+ unsigned int &id)
{
this->Lock(1);
@@ -547,7 +553,7 @@
request->type = SimulationRequestData::GET_MODEL_FIDUCIAL_ID;
memset(request->modelName, 0, 512);
- strncpy(request->modelName, modelName, 512);
+ strncpy(request->modelName, modelName.c_str(), 512);
request->modelName[511] = '\0';
this->Unlock();
Modified: code/gazebo/trunk/libgazebo/gz.h
===================================================================
--- code/gazebo/trunk/libgazebo/gz.h 2010-04-02 15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/libgazebo/gz.h 2010-04-10 21:07:58 UTC (rev 8607)
@@ -544,54 +544,56 @@
public: void Run(double simTime);
/// \brief Get the 3d pose of a model
- public: bool GetPose3d(const char *modelName, Pose &pose);
+ public: bool GetPose3d(const std::string &modelName, Pose &pose);
/// \brief Get the 2d pose of a model
- public: bool GetPose2d(const char *modelName, Pose &pose);
+ public: bool GetPose2d(const std::string &modelName, Pose &pose);
/// \brief Set the 3d pose of a model
- public: void SetPose3d(const char *modelName, const Pose &modelPose);
+ public: void SetPose3d(const std::string &modelName, const Pose &modelPose);
/// \brief Set the 2d pose of a model
- public: void SetPose2d(const char *modelName, float x, float y, float yaw);
+ public: void SetPose2d(const std::string &modelName, float x, float y,
+ float yaw);
/// \brief Set the complete state of a model
- public: void SetState(const char *modelName, Pose &modelPose,
+ public: void SetState(const std::string &modelName, Pose &modelPose,
Vec3 &linearVel, Vec3 &angularVel,
Vec3 &linearAccel, Vec3 &angularAccel );
/// \brief Get the complete state of a model
- public: bool GetState(const char *modelName, Pose &modelPose,
+ public: bool GetState(const std::string &modelName, Pose &modelPose,
Vec3 &linearVel, Vec3 &angularVel,
Vec3 &linearAccel, Vec3 &angularAccel );
/// \brief Get the child interfaces of a model
- public: void GetChildInterfaces(const char *modelName);
+ public: void GetChildInterfaces(const std::string &modelName);
/// \brief Get the Type of an interface e.g. "laser" "model" "fiducial"
- public: void GetInterfaceType(const char *modelName);
+ public: void GetInterfaceType(const std::string &modelName);
/// \brief Get the type of this model
- public: bool GetModelType(const char *modelName, std::string &type);
+ public: bool GetModelType(const std::string &modelName, std::string &type);
/// \brief Get the number of models
public: bool GetNumModels(unsigned int &num);
/// \brief Get the number of children a model has
- public: bool GetNumChildren(const char *modelName, unsigned int &num);
+ public: bool GetNumChildren(const std::string &modelName, unsigned int &num);
/// \brief Get the name of a model
- public: bool GetModelName(unsigned int child, std::string &name);
+ public: bool GetModelName(unsigned int model, std::string &name);
/// \brief Get the name of a child
- public: bool GetChildName(const char *modelName, unsigned int child,
+ public: bool GetChildName(const std::string &modelName, unsigned int child,
std::string &name);
/// \brief Get the extents of a model
- public: bool GetModelExtent(const char *modelName, Vec3 &ext);
+ public: bool GetModelExtent(const std::string &modelName, Vec3 &ext);
/// \brief Get the model Fiducial ID (if one global ID was set)
- public: bool GetModelFiducialID(const char *modelName, unsigned int &id);
+ public: bool GetModelFiducialID(const std::string &modelName,
+ unsigned int &id);
public: void GoAckWait();
public: void GoAckPost();
@@ -1209,6 +1211,9 @@
this->data = (FactoryData*)this->mMap;
}
+ /// \brief Delete a model by name
+ public: bool DeleteModel(const std::string &model_name);
+
/// Pointer to the factory data
public: FactoryData *data;
};
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2010-04-02 15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/Entity.cc 2010-04-10 21:07:58 UTC (rev 8607)
@@ -80,10 +80,33 @@
// Destructor
Entity::~Entity()
{
+ if (this->parent)
+ this->parent->RemoveChild(this);
+
delete this->staticP;
+ std::vector<Entity*>::iterator iter;
+
World::Instance()->GetPhysicsEngine()->RemoveEntity(this);
+ for (iter = this->children.begin(); iter != this->children.end(); iter++)
+ {
+ if (*iter)
+ {
+ (*iter)->SetParent(NULL);
+
+ World::Instance()->GetPhysicsEngine()->RemoveEntity(*iter);
+
+ Model *m = dynamic_cast<Model*>(*iter);
+ if (m)
+ {
+ m->Detach();
+ }
+
+ //delete *iter;
+ }
+ }
+
if (Simulator::Instance()->GetRenderEngineEnabled())
{
if (this->visualNode)
@@ -92,6 +115,7 @@
}
}
this->visualNode = NULL;
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -127,6 +151,21 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Remove a child from this entity
+void Entity::RemoveChild(Entity *child)
+{
+ std::vector<Entity*>::iterator iter;
+ for (iter = this->children.begin(); iter != this->children.end(); iter++)
+ {
+ if ((*iter)->GetName() == child->GetName())
+ {
+ this->children.erase(iter);
+ break;
+ }
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Get all children
std::vector< Entity* > &Entity::GetChildren()
{
Modified: code/gazebo/trunk/server/Entity.hh
===================================================================
--- code/gazebo/trunk/server/Entity.hh 2010-04-02 15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/Entity.hh 2010-04-10 21:07:58 UTC (rev 8607)
@@ -74,6 +74,10 @@
/// \brief Add a child to this entity
/// \param child Child entity
public: void AddChild(Entity *child);
+
+ /// \brief Remove a child from this entity
+ /// \param child Child to remove
+ public: void RemoveChild(Entity *child);
/// \brief Get all children
/// \return Vector of children entities
Modified: code/gazebo/trunk/server/GazeboConfig.cc
===================================================================
--- code/gazebo/trunk/server/GazeboConfig.cc 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/server/GazeboConfig.cc 2010-04-10 21:07:58 UTC (rev
8607)
@@ -100,7 +100,7 @@
node = rc.GetRootNode()->GetChild("gazeboPath");
while (node)
{
- gzmsg(2) << "Gazebo Path[" << node->GetValue() << "]\n";
+ gzmsg(5) << "Gazebo Path[" << node->GetValue() << "]\n";
this->gazeboPaths.push_back(node->GetValue());
node = node->GetNext("gazeboPath");
}
@@ -112,7 +112,7 @@
node = rc.GetRootNode()->GetChild("ogrePath");
while (node)
{
- gzmsg(2) << "Ogre Path[" << node->GetValue() << "]\n";
+ gzmsg(5) << "Ogre Path[" << node->GetValue() << "]\n";
this->ogrePaths.push_back( node->GetValue() );
node = node->GetNext("ogrePath");
}
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2010-04-02 15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/Model.cc 2010-04-10 21:07:58 UTC (rev 8607)
@@ -113,13 +113,10 @@
this->graphicsHandler = NULL;
}
- for (biter=this->bodies.begin(); biter != this->bodies.end(); biter++)
+ for (biter = this->bodies.begin(); biter != this->bodies.end(); biter++)
{
if (biter->second)
- {
- delete biter->second;
- biter->second = NULL;
- }
+ delete (biter->second);
}
this->bodies.clear();
@@ -547,6 +544,17 @@
this->graphicsHandler = NULL;
}
+ std::vector< Entity* >::iterator iter;
+ for (iter = this->children.begin(); iter != this->children.end(); iter++)
+ {
+ if (*iter)
+ {
+ Model *m = dynamic_cast<Model*>(*iter);
+ if (m)
+ m->Fini();
+ }
+ }
+
this->FiniChild();
}
@@ -939,7 +947,17 @@
return NULL;
}
+
////////////////////////////////////////////////////////////////////////////////
+// Detach from parent model
+void Model::Detach()
+{
+ if (this->joint)
+ delete this->joint;
+ this->joint = NULL;
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Attach this model to its parent
void Model::Attach(XMLConfigNode *node)
{
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2010-04-02 15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/Model.hh 2010-04-10 21:07:58 UTC (rev 8607)
@@ -174,7 +174,10 @@
/// \brief Get a geom by name
public: Geom *GetGeom(const std::string &name) const;
-
+
+ /// \brief Detach from parent model
+ public: void Detach();
+
/// \brief Attach this model to its parent
public: void Attach(XMLConfigNode *node);
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/server/Simulator.cc 2010-04-10 21:07:58 UTC (rev
8607)
@@ -108,12 +108,6 @@
this->model_delete_mutex = NULL;
}
- if (this->gui)
- {
- delete this->gui;
- this->gui = NULL;
- }
-
if (this->physicsThread)
{
delete this->physicsThread;
@@ -129,7 +123,15 @@
if (!this->loaded)
return;
+ if (this->gui)
+ {
+ delete this->gui;
+ this->gui = NULL;
+ }
+
+
gazebo::World::Instance()->Close();
+
if (this->renderEngineEnabled)
gazebo::OgreAdaptor::Instance()->Close();
}
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-04-02 15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/World.cc 2010-04-10 21:07:58 UTC (rev 8607)
@@ -96,6 +96,7 @@
{
if (*miter)
{
+ (*miter)->Fini();
delete (*miter);
(*miter) = NULL;
}
@@ -530,10 +531,7 @@
for (miter=this->toDeleteModels.begin();
miter!=this->toDeleteModels.end(); miter++)
{
- //std::cerr << "ProcessEngitiesToDelete " << (*miter)->GetName() <<
std::endl;
(*miter)->Fini();
- this->models.erase(
- std::remove(this->models.begin(), this->models.end(), *miter) );
delete (*miter);
}
@@ -551,10 +549,10 @@
// Update all the models
for (miter=this->models.begin(); miter!=this->models.end(); miter++)
{
- if ((*miter)->GetName() == name)
+ if ((*miter)->GetCompleteScopedName() == name)
{
- (*miter)->Fini();
this->toDeleteModels.push_back(*miter);
+ this->models.erase( std::remove(this->models.begin(),
this->models.end(), *miter));
}
}
}
@@ -574,9 +572,6 @@
// Set the model's pose (relative to parent)
//this->SetModelPose(model, model->GetInitPose());
- // Add the model to our list
- this->models.push_back(model);
-
// If calling LoadEntity()->LoadModel()from Simulator::Load()->World::Load()
// GetWorldInitialized() is false, in this case, model->Init() is
// called later directly from main.cc through Simulator::Init()
@@ -588,6 +583,9 @@
if (parent != NULL)
model->Attach(node->GetChild("attach"));
+ else
+ // Add the model to our list
+ this->models.push_back(model);
return model;
}
@@ -645,7 +643,7 @@
for (iter = models.begin(); iter != models.end(); iter++)
{
- if ((*iter)->GetName() == modelName)
+ if ((*iter)->GetCompleteScopedName() == modelName)
return (*iter);
}
@@ -962,7 +960,7 @@
Model *model = this->models[index];
memset(response->modelName, 0, 512);
- strncpy(response->modelName, model->GetName().c_str(), 512);
+ strncpy(response->modelName,
model->GetCompleteScopedName().c_str(), 512);
response->strValue[511] = '\0';
response++;
@@ -990,7 +988,7 @@
if (ent)
{
memset(response->strValue, 0, 512);
- strncpy(response->modelName, ent->GetName().c_str(), 512);
+ strncpy(response->modelName,
ent->GetCompleteScopedName().c_str(), 512);
response->strValue[511] = '\0';
response++;
@@ -1389,21 +1387,7 @@
this->simIface->Unlock();
- // lock so models is not used
- boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMDMutex());
-
- // Remove and delete all models that are marked for deletion
- std::vector< Model* >::iterator miter;
- for (miter=this->toDeleteModels.begin();
- miter!=this->toDeleteModels.end(); miter++)
- {
-// (*miter)->Fini();
- this->models.erase(
- std::remove(this->models.begin(), this->models.end(), *miter) );
- delete *miter;
- }
-
- this->toDeleteModels.clear();
+ //this->ProcessEntitiesToDelete();
}
void World::GetInterfaceNames(Entity* en, std::vector<std::string>& list)
Modified: code/gazebo/trunk/server/main.cc
===================================================================
--- code/gazebo/trunk/server/main.cc 2010-04-02 15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/main.cc 2010-04-10 21:07:58 UTC (rev 8607)
@@ -327,6 +327,6 @@
return -1;
}
- printf("Done.\n");
+ printf("Gazebo done.\n");
return 0;
}
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/server/physics/Body.cc 2010-04-10 21:07:58 UTC (rev
8607)
@@ -56,6 +56,7 @@
: Entity(parent)
{
this->comEntity = new Entity(this);
+ this->comEntity->SetName("COM Entity");
this->physicsEngine = World::Instance()->GetPhysicsEngine();
@@ -101,26 +102,35 @@
Body::~Body()
{
std::map< std::string, Geom* >::iterator giter;
+ std::vector<Entity*>::iterator iter;
std::vector< Sensor* >::iterator siter;
+ if (this->cgVisual)
+ {
+ OgreCreator::Instance()->DeleteVisual( this->cgVisual );
+ this->cgVisual = NULL;
+ }
+
+ /*if (this->comEntity)
+ delete this->comEntity;
+ this->comEntity = NULL;
+ */
+
+ /*for (iter = this->children.begin(); iter != this->children.end(); iter++)
+ if (*iter)
+ {
+ std::cout << "Deleting[" << *iter << "]\n";
+ delete *iter;
+ }
+ */
for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
- {
if (giter->second)
delete giter->second;
- giter->second = NULL;
- }
this->geoms.clear();
for (siter = this->sensors.begin(); siter != this->sensors.end(); siter++)
SensorManager::Instance()->RemoveSensor(*siter);
-
- if (this->cgVisual)
- {
- OgreCreator::Instance()->DeleteVisual( this->cgVisual );
- this->cgVisual = NULL;
- }
-
delete this->xyzP;
delete this->rpyP;
delete this->dampingFactorP;
@@ -139,9 +149,6 @@
delete this->ixzP;
delete this->iyzP;
- if (this->comEntity)
- delete this->comEntity;
- this->comEntity = NULL;
}
////////////////////////////////////////////////////////////////////////////////
@@ -262,8 +269,13 @@
void Body::Fini()
{
std::vector< Sensor* >::iterator siter;
+ std::map< std::string, Geom* >::iterator giter;
+
for (siter = this->sensors.begin(); siter != this->sensors.end(); siter++)
(*siter)->Fini();
+
+ for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
+ giter->second->Fini();
}
////////////////////////////////////////////////////////////////////////////////
@@ -399,7 +411,7 @@
}
}
-
+ this->enabled = true;
}
////////////////////////////////////////////////////////////////////////////////
@@ -418,7 +430,13 @@
// Apply our angular accel
this->SetTorque(this->angularAccel);
+ if (this->GetEnabled() != this->enabled)
{
+ this->enabled = this->GetEnabled();
+ this->enabledSignal(this->enabled);
+ }
+
+ {
//DiagnosticTimer timer("Body[" + this->GetName() +"] Update Geoms");
for (geomIter=this->geoms.begin();
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/server/physics/Body.hh 2010-04-10 21:07:58 UTC (rev
8607)
@@ -211,6 +211,15 @@
public: Entity *GetCoMEntity() { return this->comEntity; }
+ /// \brief Connect a boost::slot the the add entity signal
+ public: template<typename T>
+ boost::signals::connection ConnectEnabledSignal( T subscriber )
+ { return enabledSignal.connect(subscriber); }
+
+ public: template<typename T>
+ void DisconnectEnabledSignal( T subscriber )
+ { enabledSignal.disconnect(subscriber); }
+
/// List of geometries attached to this body
protected: std::map< std::string, Geom* > geoms;
@@ -262,12 +271,17 @@
protected: ParamT<double> *iyzP;
protected: Mass customMass;
+
/// \brief if this is the canonical :ody of a model, point back
protected: Model* canonicalModel;
/// \brief this is how you set canonical body from the model
public: void SetCanonicalModel(Model* model);
+ private: boost::signal<void (bool)> enabledSignal;
+
+ /// This flag is used to trigger the enabledSignal
+ private: bool enabled;
};
/// \}
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/server/physics/Geom.cc 2010-04-10 21:07:58 UTC (rev
8607)
@@ -80,17 +80,16 @@
World::Instance()->ConnectShowPhysicsSignal( boost::bind(&Geom::ShowPhysics,
this, _1) );
World::Instance()->ConnectShowJointsSignal( boost::bind(&Geom::ShowJoints,
this, _1) );
World::Instance()->ConnectShowBoundingBoxesSignal(
boost::bind(&Geom::ShowBoundingBox, this, _1) );
+
+ this->body->ConnectEnabledSignal( boost::bind(&Geom::EnabledCB, this, _1) );
}
////////////////////////////////////////////////////////////////////////////////
// Destructor
Geom::~Geom()
{
- World::Instance()->DisconnectShowPhysicsSignal(
boost::bind(&Geom::ShowPhysics, this, _1) );
- World::Instance()->DisconnectShowJointsSignal(
boost::bind(&Geom::ShowJoints, this, _1) );
- World::Instance()->DisconnectShowBoundingBoxesSignal(
boost::bind(&Geom::ShowBoundingBox, this, _1) );
-
- for (std::vector<OgreVisual*>::iterator iter = this->visuals.begin(); iter
!= this->visuals.end(); iter++)
+ for (std::vector<OgreVisual*>::iterator iter = this->visuals.begin();
+ iter != this->visuals.end(); iter++)
{
if (*iter)
{
@@ -111,10 +110,29 @@
delete this->laserFiducialIdP;
delete this->laserRetroP;
- delete this->shape;
+ if (this->shape)
+ delete this->shape;
+ this->shape = NULL;
+
}
////////////////////////////////////////////////////////////////////////////////
+/// Finalize the geom
+void Geom::Fini()
+{
+ this->body->DisconnectEnabledSignal(boost::bind(&Geom::EnabledCB, this, _1));
+
+ World::Instance()->DisconnectShowPhysicsSignal(
+ boost::bind(&Geom::ShowPhysics, this, _1) );
+
+ World::Instance()->DisconnectShowJointsSignal(
+ boost::bind(&Geom::ShowJoints, this, _1) );
+
+ World::Instance()->DisconnectShowBoundingBoxesSignal(
+ boost::bind(&Geom::ShowBoundingBox, this, _1) );
+}
+
+////////////////////////////////////////////////////////////////////////////////
// First step in the loading process
void Geom::Load(XMLConfigNode *node)
{
@@ -265,14 +283,6 @@
// Update
void Geom::Update()
{
- if (this->body && this->bbVisual)
- {
- if (this->body->GetEnabled())
- this->bbVisual->SetBoundingBoxMaterial("Gazebo/GreenTransparent");
- else
- this->bbVisual->SetBoundingBoxMaterial("Gazebo/RedTransparent");
- }
-
this->ClearContacts();
}
@@ -507,3 +517,16 @@
return Contact();
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Enable callback: Called when the body changes
+void Geom::EnabledCB(bool enabled)
+{
+ if (this->bbVisual)
+ {
+ if (enabled)
+ this->bbVisual->SetBoundingBoxMaterial("Gazebo/GreenTransparent");
+ else
+ this->bbVisual->SetBoundingBoxMaterial("Gazebo/RedTransparent");
+ }
+}
Modified: code/gazebo/trunk/server/physics/Geom.hh
===================================================================
--- code/gazebo/trunk/server/physics/Geom.hh 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/server/physics/Geom.hh 2010-04-10 21:07:58 UTC (rev
8607)
@@ -61,6 +61,9 @@
/// \brief Destructor
public: virtual ~Geom();
+ /// \brief Finalize the geom
+ public: void Fini();
+
/// \brief Load the geom
public: virtual void Load(XMLConfigNode *node);
@@ -170,7 +173,10 @@
{
contactSignal.connect( boost::bind(func, c, _1) );
}
-
+
+ /// \brief Enable callback: Called when the body changes
+ private: void EnabledCB(bool enabled);
+
/// \brief Create the bounding box for the geom
private: void CreateBoundingBox();
Modified: code/gazebo/trunk/server/physics/RayShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/RayShape.cc 2010-04-02 15:07:45 UTC
(rev 8606)
+++ code/gazebo/trunk/server/physics/RayShape.cc 2010-04-10 21:07:58 UTC
(rev 8607)
@@ -134,8 +134,6 @@
this->relativeEndPos = dir * len + this->relativeStartPos;
- //std::cout << "Len[" << len << "] St[" << this->relativeStartPos << "]
End[" << this->relativeEndPos << "] dir[" << dir << "]\n";
-
if (this->line)
{
this->line->SetPoint(1, this->relativeEndPos);
Modified: code/gazebo/trunk/server/physics/Shape.cc
===================================================================
--- code/gazebo/trunk/server/physics/Shape.cc 2010-04-02 15:07:45 UTC (rev
8606)
+++ code/gazebo/trunk/server/physics/Shape.cc 2010-04-10 21:07:58 UTC (rev
8607)
@@ -19,6 +19,8 @@
// Destructor
Shape::~Shape()
{
+ if (this->parent)
+ this->parent->SetShape(NULL);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/ode/ODEBody.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEBody.cc 2010-04-02 15:07:45 UTC
(rev 8606)
+++ code/gazebo/trunk/server/physics/ode/ODEBody.cc 2010-04-10 21:07:58 UTC
(rev 8607)
@@ -98,6 +98,7 @@
// Move callback. Use this to move the visuals
void ODEBody::MoveCallback(dBodyID id)
{
+
Pose3d pose;
const dReal *p;
const dReal *r;
Modified: code/gazebo/trunk/server/physics/ode/ODEMultiRayShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEMultiRayShape.cc 2010-04-02
15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/physics/ode/ODEMultiRayShape.cc 2010-04-10
21:07:58 UTC (rev 8607)
@@ -12,6 +12,8 @@
ODEMultiRayShape::ODEMultiRayShape(Geom *parent)
: MultiRayShape(parent)
{
+ this->SetName("ODE Multiray Shape");
+
// Create a space to contain the ray space
this->superSpaceId = dSimpleSpaceCreate( 0 );
@@ -141,8 +143,10 @@
void ODEMultiRayShape::AddRay(const Vector3 &start, const Vector3 &end )
{
MultiRayShape::AddRay(start,end);
+ ODEGeom *odeGeom = new ODEGeom(parent->GetBody());
+ odeGeom->SetName("ODE Ray Geom");
- ODERayShape *ray = new ODERayShape( new ODEGeom(parent->GetBody()),
**this->displayTypeP == "lines");
+ ODERayShape *ray = new ODERayShape(odeGeom, **this->displayTypeP == "lines"
);
ray->SetPoints(start,end);
this->rays.push_back(ray);
Modified: code/gazebo/trunk/server/physics/ode/ODERayShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODERayShape.cc 2010-04-02 15:07:45 UTC
(rev 8606)
+++ code/gazebo/trunk/server/physics/ode/ODERayShape.cc 2010-04-10 21:07:58 UTC
(rev 8607)
@@ -38,6 +38,8 @@
ODERayShape::ODERayShape( Geom *parent, bool displayRays )
: RayShape(parent, displayRays)
{
+ this->SetName("ODE Ray Shape");
+
ODEGeom *geom = (ODEGeom*)this->parent;
// Create default ray with unit length
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-04-02 15:07:45 UTC
(rev 8606)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-04-10 21:07:58 UTC
(rev 8607)
@@ -104,6 +104,7 @@
delete this->drawGridP;
delete this->skyMaterialP;
+ RTShaderSystem::Instance()->Fini();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/RTShaderSystem.cc
===================================================================
--- code/gazebo/trunk/server/rendering/RTShaderSystem.cc 2010-04-02
15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/rendering/RTShaderSystem.cc 2010-04-10
21:07:58 UTC (rev 8607)
@@ -154,6 +154,29 @@
#endif
}
+void RTShaderSystem::Fini()
+{
+#if OGRE_VERSION_MAJOR >= 1 && OGRE_VERSION_MINOR >= MINOR_VERSION
+ // Restore default scheme.
+
Ogre::MaterialManager::getSingleton().setActiveScheme(Ogre::MaterialManager::DEFAULT_SCHEME_NAME);
+
+ // Unregister the material manager listener.
+ if (this->materialMgrListener != NULL)
+ {
+ Ogre::MaterialManager::getSingleton().removeListener(
+ this->materialMgrListener);
+ this->materialMgrListener = NULL;
+ }
+
+ // Finalize RTShader system.
+ if (this->shaderGenerator != NULL)
+ {
+ Ogre::RTShader::ShaderGenerator::finalize();
+ this->shaderGenerator = NULL;
+ }
+#endif
+}
+
////////////////////////////////////////////////////////////////////////////////
// Set an Ogre::Entity to use RT shaders
void RTShaderSystem::AttachEntity(OgreVisual *vis)
Modified: code/gazebo/trunk/server/rendering/RTShaderSystem.hh
===================================================================
--- code/gazebo/trunk/server/rendering/RTShaderSystem.hh 2010-04-02
15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/rendering/RTShaderSystem.hh 2010-04-10
21:07:58 UTC (rev 8607)
@@ -61,6 +61,9 @@
/// \brief Init the run time shader system
public: void Init();
+ /// \brief Finalize the shader system
+ public: void Fini();
+
/// \brief Update the shaders
public: void UpdateShaders();
Modified: code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2010-04-02
15:07:45 UTC (rev 8606)
+++ code/gazebo/trunk/server/sensors/camera/MonoCameraSensor.cc 2010-04-10
21:07:58 UTC (rev 8607)
@@ -156,15 +156,20 @@
if (!Simulator::Instance()->GetRenderEngineEnabled())
return;
+ if (this->active || **this->alwaysActiveP || **this->saveFramesP)
+ this->UpdateCam();
+
+
// Only continue if the controller has an active interface. Or frames need
// to be saved
- if ( (this->controller && !this->controller->IsConnected()) &&
+ /*if ( (this->controller && !this->controller->IsConnected()) &&
!this->saveFramesP->GetValue())
return;
// Or skip if user sets camera to inactive
if (this->active)
this->UpdateCam();
+ */
}
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