Revision: 8683
http://playerstage.svn.sourceforge.net/playerstage/?rev=8683&view=rev
Author: natepak
Date: 2010-05-17 16:02:40 +0000 (Mon, 17 May 2010)
Log Message:
-----------
Added start of orbit view controller
Modified Paths:
--------------
code/gazebo/trunk/benchmarks/CMakeLists.txt
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/Entity.hh
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/gui/GLFrame.cc
code/gazebo/trunk/server/gui/GLWindow.cc
code/gazebo/trunk/server/gui/GLWindow.hh
code/gazebo/trunk/server/gui/MouseEvent.hh
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/rendering/CMakeLists.txt
code/gazebo/trunk/server/rendering/FPSViewController.cc
code/gazebo/trunk/server/rendering/FPSViewController.hh
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCamera.hh
code/gazebo/trunk/worlds/pendulum.world
code/gazebo/trunk/worlds/simpleshapes.world
Added Paths:
-----------
code/gazebo/trunk/benchmarks/pendulum_benchmark.cc
code/gazebo/trunk/server/rendering/OrbitViewController.cc
code/gazebo/trunk/server/rendering/OrbitViewController.hh
Modified: code/gazebo/trunk/benchmarks/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/benchmarks/CMakeLists.txt 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/benchmarks/CMakeLists.txt 2010-05-17 16:02:40 UTC (rev
8683)
@@ -27,6 +27,7 @@
joint_chain_benchmark.cc
camera_benchmark.cc
spinningbox_benchmark.cc
+ pendulum_benchmark.cc
)
set_source_files_properties(${sources} PROPERTIES COMPILE_FLAGS "-ggdb -g2
-Wall")
@@ -37,6 +38,7 @@
add_executable(joint_chain_benchmark joint_chain_benchmark.cc)
add_executable(camera_benchmark camera_benchmark.cc)
add_executable(spinningbox_benchmark spinningbox_benchmark.cc)
+add_executable(pendulum_benchmark pendulum_benchmark.cc)
target_link_libraries(laser_benchmark gazebo ${LINK_LIBS} )
target_link_libraries(box_grid_benchmark gazebo ${LINK_LIBS} )
@@ -44,21 +46,22 @@
target_link_libraries(joint_chain_benchmark gazebo ${LINK_LIBS} )
target_link_libraries(camera_benchmark gazebo ${LINK_LIBS} )
target_link_libraries(spinningbox_benchmark gazebo ${LINK_LIBS} )
+target_link_libraries(pendulum_benchmark gazebo ${LINK_LIBS} )
set_target_properties(laser_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
set_target_properties(box_grid_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
set_target_properties(box_pile_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
set_target_properties(joint_chain_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
set_target_properties(camera_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-set_target_properties(spinningbox_benchmark PROPERTIES SKIP_BUILD_RPATH
TRUE)
+set_target_properties(spinningbox_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
+set_target_properties(pendulum_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
set_target_properties(laser_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
set_target_properties(box_grid_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
set_target_properties(box_pile_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
set_target_properties(joint_chain_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
set_target_properties(camera_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-set_target_properties(spinningbox_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
+set_target_properties(spinningbox_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
+set_target_properties(pendulum_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-install (TARGETS laser_benchmark box_grid_benchmark box_pile_benchmark
joint_chain_benchmark camera_benchmark spinningbox_benchmark DESTINATION
${CMAKE_INSTALL_PREFIX}/bin)
-
-
+install (TARGETS laser_benchmark box_grid_benchmark box_pile_benchmark
joint_chain_benchmark camera_benchmark spinningbox_benchmark pendulum_benchmark
DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
Added: code/gazebo/trunk/benchmarks/pendulum_benchmark.cc
===================================================================
--- code/gazebo/trunk/benchmarks/pendulum_benchmark.cc
(rev 0)
+++ code/gazebo/trunk/benchmarks/pendulum_benchmark.cc 2010-05-17 16:02:40 UTC
(rev 8683)
@@ -0,0 +1,93 @@
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <libgazebo/gz.h>
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+
+std::string test_name="Pendulum Benchmark";
+std::string xlabel = "Pendulum Count";
+std::string ylabel = "Simtime / Realtime";
+std::string data_filename = "/tmp/" + test_name + ".data";
+
+void make_plot()
+{
+ std::ostringstream cmd;
+
+ cmd << "echo \"";
+ cmd << "set xlabel '" << xlabel << "'\n";
+ cmd << "set ylabel '" << ylabel << "'\n";
+ cmd << "set title '" << test_name << "'\n";
+ cmd << "set terminal png\n";
+ cmd << "set output '" << test_name << ".png'\n";
+ cmd << "plot '" << data_filename << "' with lines\n";
+ cmd << "\" | gnuplot";
+
+ if (system(cmd.str().c_str() ) < 0)
+ std::cerr << "Error\n";
+}
+
+int main(int argc, char **argv)
+{
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ //FILE *out = fopen(data_filename.c_str(), "w");
+
+ /*if (!out)
+ std::cerr << "Unable to open log file";
+ */
+
+ //double simTime = 0;
+ //double realTime = 0;
+
+ gazebo::Vec3 linearVel, angularVel, linearAccel, angularAccel;
+ gazebo::Pose modelPose;
+
+ bool done = false;
+ while (!done)
+ {
+ //simIface->SetAngularVel("box_model", gazebo::Vec3(0,0,vel));
+
+ simIface->GetState("base_model::swing_body", modelPose, linearVel,
angularVel,
+ linearAccel, angularAccel);
+ printf("Pos[%4.2f %4.2f %4.2f] RPY[%4.2f %4.2f %4.2f] ", modelPose.pos.x,
modelPose.pos.y, modelPose.pos.z, modelPose.roll, modelPose.pitch,
modelPose.yaw);
+ printf("LV[%4.2f %4.2f %4.2f] ",linearVel.x, linearVel.y, linearVel.z );
+ printf("AV[%4.2f %4.2f %4.2f] ",angularVel.x, angularVel.y, angularVel.z);
+ printf("LA[%4.2f %4.2f %4.2f] ",linearAccel.x, linearAccel.y,
linearAccel.z);
+ printf("AA[%4.2f %4.2f %4.2f]\n",angularAccel.x, angularAccel.y,
angularAccel.z );
+ }
+
+ //double percent = simTime / realTime;
+ //fprintf(out,"%f\n",percent);
+
+ //fclose(out);
+
+ //make_plot();
+
+ simIface->Close();
+ client->Disconnect();
+}
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2010-05-14 23:02:16 UTC (rev 8682)
+++ code/gazebo/trunk/server/Entity.cc 2010-05-17 16:02:40 UTC (rev 8683)
@@ -328,6 +328,34 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Get the linear velocity of the model
+Vector3 Entity::GetLinearVel() const
+{
+ return Vector3();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the angular velocity of the model
+Vector3 Entity::GetAngularVel() const
+{
+ return Vector3();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the linear acceleration of the model
+Vector3 Entity::GetLinearAccel() const
+{
+ return Vector3();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the angular acceleration of the model
+Vector3 Entity::GetAngularAccel() const
+{
+ return Vector3();
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Get the pose relative to the model this entity belongs to
Pose3d Entity::GetModelRelativePose() const
{
Modified: code/gazebo/trunk/server/Entity.hh
===================================================================
--- code/gazebo/trunk/server/Entity.hh 2010-05-14 23:02:16 UTC (rev 8682)
+++ code/gazebo/trunk/server/Entity.hh 2010-05-17 16:02:40 UTC (rev 8683)
@@ -129,10 +129,23 @@
/// \brief Set the rotation of the entity relative to its parent
public: void SetRelativeRotation(const Quatern &rot);
+ /// \brief Get the linear velocity of the model
+ public: virtual Vector3 GetLinearVel() const;
+
+ /// \brief Get the angular velocity of the model
+ public: virtual Vector3 GetAngularVel() const;
+
+ /// \brief Get the linear acceleration of the model
+ public: virtual Vector3 GetLinearAccel() const;
+
+ /// \brief Get the angular acceleration of the model
+ public: virtual Vector3 GetAngularAccel() const;
+
/// \brief This function is called when the entity's (or one of its
parents)
/// pose of the parent has changed
protected: virtual void OnPoseChange() {}
+
/// \brief Returns true if the entities are the same. Checks only the name
public: bool operator==(const Entity &ent) const;
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2010-05-14 23:02:16 UTC (rev 8682)
+++ code/gazebo/trunk/server/Model.hh 2010-05-17 16:02:40 UTC (rev 8683)
@@ -129,16 +129,16 @@
public: void SetAngularAccel( const Vector3 &vel );
/// \brief Get the linear velocity of the model
- public: Vector3 GetLinearVel() const;
+ public: virtual Vector3 GetLinearVel() const;
/// \brief Get the angular velocity of the model
- public: Vector3 GetAngularVel() const;
+ public: virtual Vector3 GetAngularVel() const;
/// \brief Get the linear acceleration of the model
- public: Vector3 GetLinearAccel() const;
+ public: virtual Vector3 GetLinearAccel() const;
/// \brief Get the angular acceleration of the model
- public: Vector3 GetAngularAccel() const;
+ public: virtual Vector3 GetAngularAccel() const;
/// \brief Get the size of the bounding box
public: void GetBoundingBox(Vector3 &min, Vector3 &max) const;
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-05-14 23:02:16 UTC (rev 8682)
+++ code/gazebo/trunk/server/World.cc 2010-05-17 16:02:40 UTC (rev 8683)
@@ -1235,25 +1235,23 @@
case SimulationRequestData::GET_STATE:
{
Entity *ent = this->GetEntityByName((char*)req->name);
- if (ent && ent->GetType() == Entity::MODEL)
+ if (ent)// && ent->GetType() == Entity::MODEL)
{
- Model *model = (Model*)ent;
-
Pose3d pose;
Vector3 linearVel;
Vector3 angularVel;
Vector3 linearAccel;
Vector3 angularAccel;
- pose = model->GetAbsPose();
+ pose = ent->GetAbsPose();
// Get the model's linear and angular velocity
- linearVel = model->GetLinearVel();
- angularVel = model->GetAngularVel();
+ linearVel = ent->GetLinearVel();
+ angularVel = ent->GetAngularVel();
// Get the model's linear and angular acceleration
- linearAccel = model->GetLinearAccel();
- angularAccel = model->GetAngularAccel();
+ linearAccel = ent->GetLinearAccel();
+ angularAccel = ent->GetAngularAccel();
response->modelPose.pos.x = pose.pos.x;
response->modelPose.pos.y = pose.pos.y;
Modified: code/gazebo/trunk/server/gui/GLFrame.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLFrame.cc 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/server/gui/GLFrame.cc 2010-05-17 16:02:40 UTC (rev
8683)
@@ -297,7 +297,7 @@
/// Set the pose of the camera attached to this frame
void GLFrame::SetCameraPose( const Pose3d &pose )
{
- this->glWindow->GetCamera()->SetWorldPose( pose );
+ //this->glWindow->GetCamera()->SetWorldPose( pose );
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/gui/GLWindow.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.cc 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/server/gui/GLWindow.cc 2010-05-17 16:02:40 UTC (rev
8683)
@@ -71,12 +71,7 @@
this->end();
this->userCamera = NULL;
- this->moveAmount = 0.1;
- this->directionVec.x = 0;
- this->directionVec.y = 0;
- this->directionVec.z = 0;
-
this->keys.clear();
if (activeWin == NULL)
@@ -129,9 +124,10 @@
}
this->userCamera->Init();
- this->userCamera->RotatePitch( DTOR(30) );
- this->userCamera->Translate( Vector3(-5, 0, 1) );
+ //this->userCamera->RotatePitch( DTOR(30) );
+ //this->userCamera->Translate( Vector3(-5, 0, 1) );
+
this->activeCamera = this->userCamera;
}
@@ -357,9 +353,7 @@
std::map<int,int>::iterator iter;
this->keys[keyNum] = 1;
- // loop through the keys to find the modifiers -- swh
- float moveAmount = this->moveAmount;
-
+ // loop through the keys to find the modifiers
for (iter = this->keys.begin(); iter!= this->keys.end(); iter++)
{
if (iter->second == 1)
@@ -369,7 +363,6 @@
case FL_Control_L:
case FL_Control_R:
Events::manipModeSignal(true);
- moveAmount = this->moveAmount * 10;
break;
case FL_CTRL+'q':
Simulator::Instance()->SetUserQuit();
@@ -377,43 +370,13 @@
case '=':
case '+':
- this->moveAmount *= 2;
+ this->mouseEvent.moveScale *= 2;
break;
case '-':
case '_':
- this->moveAmount *= 0.5;
+ this->mouseEvent.moveScale *= 0.5;
break;
-
- case XK_Up:
- case XK_w:
- this->directionVec.x += this->moveAmount;
- break;
-
- case XK_Down:
- case XK_s:
- this->directionVec.x -= this->moveAmount;
- break;
-
- case XK_Left:
- case XK_a:
- this->directionVec.y += this->moveAmount;
- break;
-
- case XK_Right:
- case XK_d:
- this->directionVec.y -= this->moveAmount;
- break;
-
- case XK_Page_Down:
- case XK_e:
- this->directionVec.z += this->moveAmount;
- break;
-
- case XK_Page_Up:
- case XK_q:
- this->directionVec.z -= this->moveAmount;
- break;
default:
break;
}
Modified: code/gazebo/trunk/server/gui/GLWindow.hh
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.hh 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/server/gui/GLWindow.hh 2010-05-17 16:02:40 UTC (rev
8683)
@@ -159,10 +159,6 @@
/// pointer to the display
private: Display *display;
- private: float moveAmount;
-
- private: Vector3 directionVec;
-
private: MouseEvent mouseEvent;
private: std::map<int,int> keys;
Modified: code/gazebo/trunk/server/gui/MouseEvent.hh
===================================================================
--- code/gazebo/trunk/server/gui/MouseEvent.hh 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/server/gui/MouseEvent.hh 2010-05-17 16:02:40 UTC (rev
8683)
@@ -11,7 +11,7 @@
public: MouseEvent()
: pos(0,0), prevPos(0,0), pressPos(0,0), scroll(0,0),
- dragging(false), left(UP), right(UP), middle(UP)
+ moveScale(0.01),dragging(false), left(UP), right(UP), middle(UP)
{}
public: Vector2<int> pos;
@@ -19,6 +19,8 @@
public: Vector2<int> pressPos;
public: Vector2<int> scroll;
+ public: float moveScale;
+
public: bool dragging;
public: ButtonState left;
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/server/physics/Body.hh 2010-05-17 16:02:40 UTC (rev
8683)
@@ -126,26 +126,20 @@
/// \brief Set the linear velocity of the body
public: virtual void SetLinearVel(const Vector3 &vel) = 0;
- /// \brief Get the linear velocity of the body
- public: virtual Vector3 GetLinearVel() const = 0;
-
/// \brief Set the angular velocity of the body
public: virtual void SetAngularVel(const Vector3 &vel) = 0;
- /// \brief Get the angular velocity of the body
- public: virtual Vector3 GetAngularVel() const = 0;
-
/// \brief Set the linear acceleration of the body
public: void SetLinearAccel(const Vector3 &accel);
/// \brief Get the linear acceleration of the body
- public: Vector3 GetLinearAccel() const;
+ public: virtual Vector3 GetLinearAccel() const;
/// \brief Set the angular acceleration of the body
public: void SetAngularAccel(const Vector3 &accel);
/// \brief Get the angular acceleration of the body
- public: Vector3 GetAngularAccel() const;
+ public: virtual Vector3 GetAngularAccel() const;
/// \brief Set the force applied to the body
public: virtual void SetForce(const Vector3 &force) = 0;
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/server/physics/Geom.cc 2010-05-17 16:02:40 UTC (rev
8683)
@@ -530,3 +530,44 @@
this->bbVisual->SetBoundingBoxMaterial("Gazebo/RedTransparent");
}
}
+
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the linear velocity of the model
+Vector3 Geom::GetLinearVel() const
+{
+ if (this->body)
+ return this->body->GetLinearVel();
+ else
+ return Vector3();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the angular velocity of the model
+Vector3 Geom::GetAngularVel() const
+{
+ if (this->body)
+ return this->body->GetAngularVel();
+ else
+ return Vector3();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the linear acceleration of the model
+Vector3 Geom::GetLinearAccel() const
+{
+ if (this->body)
+ return this->body->GetLinearAccel();
+ else
+ return Vector3();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the angular acceleration of the model
+Vector3 Geom::GetAngularAccel() const
+{
+ if (this->body)
+ return this->body->GetAngularAccel();
+ else
+ return Vector3();
+}
Modified: code/gazebo/trunk/server/physics/Geom.hh
===================================================================
--- code/gazebo/trunk/server/physics/Geom.hh 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/server/physics/Geom.hh 2010-05-17 16:02:40 UTC (rev
8683)
@@ -168,6 +168,18 @@
/// \brief Get a specific contact
public: Contact GetContact(unsigned int i) const;
+ /// \brief Get the linear velocity of the model
+ public: virtual Vector3 GetLinearVel() const;
+
+ /// \brief Get the angular velocity of the model
+ public: virtual Vector3 GetAngularVel() const;
+
+ /// \brief Get the linear acceleration of the model
+ public: virtual Vector3 GetLinearAccel() const;
+
+ /// \brief Get the angular acceleration of the model
+ public: virtual Vector3 GetAngularAccel() const;
+
public: template< typename C>
void ContactCallback( void (C::*func)(const Contact&), C *c )
{
Modified: code/gazebo/trunk/server/rendering/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/rendering/CMakeLists.txt 2010-05-14 23:02:16 UTC
(rev 8682)
+++ code/gazebo/trunk/server/rendering/CMakeLists.txt 2010-05-17 16:02:40 UTC
(rev 8683)
@@ -25,6 +25,7 @@
SelectionObj.cc
ViewController.cc
FPSViewController.cc
+ OrbitViewController.cc
)
set (headers OgreMovableText.hh
@@ -47,6 +48,7 @@
SelectionObj.hh
ViewController.hh
FPSViewController.hh
+ OrbitViewController.hh
)
add_library(gazebo_rendering SHARED ${sources})
Modified: code/gazebo/trunk/server/rendering/FPSViewController.cc
===================================================================
--- code/gazebo/trunk/server/rendering/FPSViewController.cc 2010-05-14
23:02:16 UTC (rev 8682)
+++ code/gazebo/trunk/server/rendering/FPSViewController.cc 2010-05-17
16:02:40 UTC (rev 8683)
@@ -12,9 +12,6 @@
FPSViewController::FPSViewController(OgreCamera *camera)
: ViewController(camera)
{
- this->directionVec.x = 0;
- this->directionVec.y = 0;
- this->directionVec.z = 0;
}
////////////////////////////////////////////////////////////////////////////////
@@ -38,7 +35,7 @@
Vector2<int> drag = event.pos - event.prevPos;
- this->directionVec.Set(0,0,0);
+ Vector3 directionVec(0,0,0);
if (event.left == MouseEvent::DOWN)
{
@@ -48,23 +45,22 @@
else if (event.right == MouseEvent::DOWN)
{
// interactively pan view
- this->directionVec.x = 0;
- this->directionVec.y = drag.x * 0.01;//this->moveAmount;
- this->directionVec.z = drag.y * 0.01;//this->moveAmount;
+ directionVec.x = 0;
+ directionVec.y = drag.x * event.moveScale;
+ directionVec.z = drag.y * event.moveScale;
}
else if (event.middle == MouseEvent::DOWN)
{
- this->directionVec.x = drag.y * 0.01;//this->moveAmount;
- this->directionVec.y = 0;
- this->directionVec.z = 0;
+ directionVec.x = drag.y * event.moveScale;
+ directionVec.y = 0;
+ directionVec.z = 0;
}
else if (event.middle == MouseEvent::SCROLL)
{
- this->directionVec.x -= 50.0 * event.scroll.y * 0.01;//this->moveAmount;
- this->directionVec.y = 0;
- this->directionVec.z = 0;
+ directionVec.x -= 50.0 * event.scroll.y * event.moveScale;
+ directionVec.y = 0;
+ directionVec.z = 0;
}
this->camera->Translate(directionVec);
- this->directionVec.Set(0,0,0);
}
Modified: code/gazebo/trunk/server/rendering/FPSViewController.hh
===================================================================
--- code/gazebo/trunk/server/rendering/FPSViewController.hh 2010-05-14
23:02:16 UTC (rev 8682)
+++ code/gazebo/trunk/server/rendering/FPSViewController.hh 2010-05-17
16:02:40 UTC (rev 8683)
@@ -2,8 +2,6 @@
#define FPSVIEWCONTROLLER_HH
#include "ViewController.hh"
-#include "Vector3.hh"
-#include "Time.hh"
namespace gazebo
{
@@ -21,8 +19,6 @@
/// \brief Handle a mouse event
public: virtual void HandleMouseEvent(const MouseEvent &event);
- protected: Time lastUpdateTime;
- protected: Vector3 directionVec;
};
}
#endif
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2010-05-14 23:02:16 UTC
(rev 8682)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2010-05-17 16:02:40 UTC
(rev 8683)
@@ -30,6 +30,7 @@
#include <dirent.h>
#include "FPSViewController.hh"
+#include "OrbitViewController.hh"
#include "PhysicsEngine.hh"
#include "Global.hh"
#include "World.hh"
@@ -387,6 +388,17 @@
this->sceneNode->setPosition( this->pose.pos.x, this->pose.pos.y,
this->pose.pos.z);
this->pitchNode->setOrientation( this->pose.rot.u, this->pose.rot.x,
this->pose.rot.y, this->pose.rot.z);
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the world position
+void OgreCamera::SetPosition(const Vector3 &pos)
+{
+ if (!Simulator::Instance()->GetRenderEngineEnabled())
+ return;
+
+ this->pose.pos = pos;
+ this->sceneNode->setPosition( this->pose.pos.x, this->pose.pos.y,
this->pose.pos.z);
+}
////////////////////////////////////////////////////////////////////////////////
/// Set the clip distances
@@ -1005,6 +1017,16 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the direction of the camera
+void OgreCamera::SetDirection(Vector3 vec)
+{
+ /*this->pitchNode->setDirection(Ogre::Vector3(vec.x, vec.y, vec.z),
Ogre::Node::TS_WORLD, Ogre::Vector3::NEGATIVE_UNIT_X);
+ this->camera->setDirection(Ogre::Vector3(vec.x, vec.y, vec.z));
+ Ogre::Quaternion q = this->camera->getOrientation();
+ */
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Hande a mouse event
void OgreCamera::HandleMouseEvent(const MouseEvent &evt)
{
Modified: code/gazebo/trunk/server/rendering/OgreCamera.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.hh 2010-05-14 23:02:16 UTC
(rev 8682)
+++ code/gazebo/trunk/server/rendering/OgreCamera.hh 2010-05-17 16:02:40 UTC
(rev 8683)
@@ -103,6 +103,9 @@
/// \brief Set the global pose of the camera
public: void SetWorldPose(const Pose3d &pose);
+
+ /// \brief Set the world position
+ public: void SetPosition(const Vector3 &pos);
/// \brief Translate the camera
public: void Translate( const Vector3 &direction );
@@ -235,6 +238,9 @@
/// \brief Get the direction the camera is facing
public: Vector3 GetDirection() const;
+ /// Set the direction of the camera
+ public: void SetDirection(Vector3 vec);
+
/// \brief Hande a mouse event
public: void HandleMouseEvent(const MouseEvent &evt);
@@ -255,7 +261,7 @@
protected: Ogre::Camera *camera;
protected: Ogre::SceneNode *origParentNode;
protected: Ogre::SceneNode *sceneNode;
- protected: Ogre::SceneNode *pitchNode;
+ public: Ogre::SceneNode *pitchNode;
private: Pose3d pose;
Added: code/gazebo/trunk/server/rendering/OrbitViewController.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OrbitViewController.cc
(rev 0)
+++ code/gazebo/trunk/server/rendering/OrbitViewController.cc 2010-05-17
16:02:40 UTC (rev 8683)
@@ -0,0 +1,108 @@
+#include <Ogre.h>
+#include "Simulator.hh"
+#include "Global.hh"
+#include "OgreCamera.hh"
+#include "Vector2.hh"
+#include "MouseEvent.hh"
+#include "OrbitViewController.hh"
+
+using namespace gazebo;
+
+static const float PITCH_LIMIT_LOW = 0.001;
+static const float PITCH_LIMIT_HIGH = M_PI - 0.001;
+
+////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+OrbitViewController::OrbitViewController(OgreCamera *camera)
+ : ViewController(camera), yaw(M_PI), pitch(M_PI*.5), distance(5.0f)
+{
+ this->focalPoint.Set(0,0,0);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+OrbitViewController::~OrbitViewController()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Activate the controller
+//void OrbitViewController::Activate()
+//{
+//}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update
+void OrbitViewController::Update()
+{
+ Vector3 pos;
+ pos.x = this->distance * cos( this->yaw ) * sin( this->pitch ) +
this->focalPoint.x;
+ pos.z = this->distance * cos( this->pitch ) + this->focalPoint.z;
+ pos.y = this->distance * sin( this->yaw ) * sin( this->pitch ) +
this->focalPoint.y;
+
+ this->camera->SetPosition(pos);
+ Pose3d pose = this->camera->GetWorldPose();
+
+ Vector3 vec = pose.rot * (this->focalPoint - pos);
+
+ this->camera->SetDirection(vec);
+ //this->camera->GetOgreCamera()->setDirection(Ogre::Vector3(vec.x, vec.y,
vec.z));
+
+ //camera_->setFixedYawAxis(true, reference_node_->getOrientation() *
Ogre::Vector3::UNIT_Y);
+ //camera_->setDirection(reference_node_->getOrientation() * (focal_point_ -
pos));
+
+ //focal_shape_->setPosition(focal_point_);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Handle a mouse event
+void OrbitViewController::HandleMouseEvent(const MouseEvent &event)
+{
+ if (!this->camera->GetUserMovable())
+ return;
+
+ Vector2<int> drag = event.pos - event.prevPos;
+
+ Vector3 directionVec(0,0,0);
+
+ if (event.left == MouseEvent::DOWN)
+ {
+ this->yaw += drag.x * event.moveScale * 0.1;
+ this->pitch += drag.y * event.moveScale *0.1;
+
+ this->yaw = fmod(this->yaw, M_PI*2);
+ if (this->yaw < 0.0f)
+ this->yaw = M_PI * 2 + this->yaw;
+
+ if (this->pitch < PITCH_LIMIT_LOW)
+ this->pitch = PITCH_LIMIT_LOW;
+ else if (this->pitch > PITCH_LIMIT_HIGH)
+ this->pitch = PITCH_LIMIT_HIGH;
+
+ //this->camera->RotateYaw(DTOR(drag.x * 0.1));
+ //this->camera->RotatePitch(DTOR(-drag.y * 0.1));
+ }
+ /*else if (event.right == MouseEvent::DOWN)
+ {
+ // interactively pan view
+ directionVec.x = 0;
+ directionVec.y = drag.x * event.moveScale;
+ directionVec.z = drag.y * event.moveScale;
+ }
+ else if (event.middle == MouseEvent::DOWN)
+ {
+ directionVec.x = drag.y * event.moveScale;
+ directionVec.y = 0;
+ directionVec.z = 0;
+ }
+ else if (event.middle == MouseEvent::SCROLL)
+ {
+ directionVec.x -= 50.0 * event.scroll.y * event.moveScale;
+ directionVec.y = 0;
+ directionVec.z = 0;
+ }
+
+ this->camera->Translate(directionVec);
+ this->directionVec.Set(0,0,0);
+ */
+}
Added: code/gazebo/trunk/server/rendering/OrbitViewController.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OrbitViewController.hh
(rev 0)
+++ code/gazebo/trunk/server/rendering/OrbitViewController.hh 2010-05-17
16:02:40 UTC (rev 8683)
@@ -0,0 +1,29 @@
+#ifndef ORBITVIEWCONTROLLER_HH
+#define ORBITVIEWCONTROLLER_HH
+
+#include "ViewController.hh"
+#include "Vector3.hh"
+
+namespace gazebo
+{
+ class OrbitViewController : public ViewController
+ {
+ /// \brief Constructor
+ public: OrbitViewController(OgreCamera *camera);
+
+ /// \brief Destructor
+ public: virtual ~OrbitViewController();
+
+ /// \brief Update
+ public: virtual void Update();
+
+ /// \brief Handle a mouse event
+ public: virtual void HandleMouseEvent(const MouseEvent &event);
+
+ private: float yaw, pitch;
+ private: float distance;
+ private: Vector3 focalPoint;
+ };
+}
+
+#endif
Modified: code/gazebo/trunk/worlds/pendulum.world
===================================================================
--- code/gazebo/trunk/worlds/pendulum.world 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/worlds/pendulum.world 2010-05-17 16:02:40 UTC (rev
8683)
@@ -17,16 +17,26 @@
<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
- <cfm>10e-2</cfm>
+ <cfm>10e-10</cfm>
<erp>0.2</erp>
+ <quickStep>true</quickStep>
+ <quickStepIters>50</quickStepIters>
+ <quickStepW>1.3</quickStepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>
+
+ <!-- updateRate: <0 == throttle simTime to match realTime.
+ 0 == No throttling
+ >0 == Frequency at which to throttle the sim -->
<updateRate>0</updateRate>
+
</physics:ode>
<rendering:gui>
<type>fltk</type>
<size>1024 768</size>
<pos>0 0</pos>
- <frames>
+ <!--<frames>
<row height="100%">
<camera width="100%">
<xyz>-3.15 4 2.55</xyz>
@@ -34,6 +44,7 @@
</camera>
</row>
</frames>
+ -->
</rendering:gui>
<rendering:ogre>
@@ -41,7 +52,7 @@
<sky>
<material>Gazebo/Grey</material>
</sky>
- <shadowTechnique>stencilAdditive</shadowTechnique>
+ <shadowTechnique>stencilModulative</shadowTechnique>
<grid>false</grid>
</rendering:ogre>
@@ -70,6 +81,7 @@
<!-- Bottom & Upright of the pendulum -->
<body:box name="base_body">
<dampingFactor>1.0</dampingFactor>
+ <static>true</static>
<geom:box name="base_geom">
<size>1.0 1.0 0.2</size>
<mass>10.1</mass>
@@ -104,7 +116,6 @@
</body:box>
<body:box name="swing_body">
- <!--<xyz>-0.46 0.7 2.235</xyz>-->
<xyz>-0.46 0.7 2.15</xyz>
<rpy>90 0 0</rpy>
<dampingFactor>0.00006</dampingFactor>
@@ -134,7 +145,7 @@
<body1>base_body</body1>
<body2>swing_body</body2>
<anchor>swing_body</anchor>
- <anchorOffset>0 -0.7 0</anchorOffset>
+ <anchorOffset>0 0 0.7</anchorOffset>
<axis>1 0 0</axis>
<erp>0.8</erp>
<cfm>10e-5</cfm>
@@ -156,7 +167,7 @@
</light>
</model:renderable>
- <model:renderable name="point_white2">
+ <!-- <model:renderable name="point_white2">
<xyz>-1 2 10</xyz>
<static>true</static>
@@ -170,5 +181,6 @@
<castShadows>false</castShadows>
</light>
</model:renderable>
+ -->
</gazebo:world>
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2010-05-14 23:02:16 UTC (rev
8682)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2010-05-17 16:02:40 UTC (rev
8683)
@@ -48,7 +48,7 @@
<model:physical name="sphere1_model">
<xyz>0 0 0.2</xyz>
- <rpy>45 0.0 0.0</rpy>
+ <rpy>0 0.0 0.0</rpy>
<static>true</static>
<body:sphere name="sphere1_body">
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