Revision: 8854
http://playerstage.svn.sourceforge.net/playerstage/?rev=8854&view=rev
Author: hsujohnhsu
Date: 2010-08-12 18:32:32 +0000 (Thu, 12 Aug 2010)
Log Message:
-----------
make contact markers more visible
Modified Paths:
--------------
code/gazebo/trunk/server/physics/PhysicsEngine.cc
Modified: code/gazebo/trunk/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/trunk/server/physics/PhysicsEngine.cc 2010-08-12 18:31:45 UTC
(rev 8853)
+++ code/gazebo/trunk/server/physics/PhysicsEngine.cc 2010-08-12 18:32:32 UTC
(rev 8854)
@@ -52,14 +52,14 @@
{
this->visual =
OgreCreator::Instance()->CreateVisual("Physics_Engine_Visual");
this->visual->SetVisible(false);
- this->contactLines.resize(100);
+ this->contactLines.resize(5000);
Material *mat = new Material();
mat->SetName("ContactPointsMaterial");
mat->SetPointSize(10);
- mat->SetAmbient(Color(1,1,0,1));
- mat->SetDiffuse(Color(1,1,0,1));
- mat->SetEmissive(Color(1,1,0,1));
+ mat->SetAmbient(Color(1,0,0,1));
+ mat->SetDiffuse(Color(1,0,0,1));
+ mat->SetEmissive(Color(1,0,0,1));
std::string matName = OgreCreator::CreateMaterial(mat);
unsigned int i=0;
@@ -71,6 +71,20 @@
OgreDynamicRenderable::OT_LINE_LIST);
(*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
(*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
(*this->contactLinesIter)->setMaterial(matName);
this->visual->AttachObject(*this->contactLinesIter);
}
@@ -182,9 +196,30 @@
if (!World::Instance()->GetShowContacts())
return;
- (*this->contactLinesIter)->SetPoint(0, pos);
- (*this->contactLinesIter)->SetPoint(1, pos+(norm*0.1));
+ Vector3 e1 = norm.GetPerpendicular(); e1.Normalize();
+ Vector3 e2 = norm.GetCrossProd(e1); e2.Normalize();
+ (*this->contactLinesIter)->SetPoint( 0, pos);
+ (*this->contactLinesIter)->SetPoint( 1, pos+(norm*0.2)+(e1*0.05)+(e2*0.05));
+ (*this->contactLinesIter)->SetPoint( 2, pos);
+ (*this->contactLinesIter)->SetPoint( 3, pos+(norm*0.2)+(e1*0.05)-(e2*0.05));
+ (*this->contactLinesIter)->SetPoint( 4, pos);
+ (*this->contactLinesIter)->SetPoint( 5, pos+(norm*0.2)-(e1*0.05)+(e2*0.05));
+ (*this->contactLinesIter)->SetPoint( 6, pos);
+ (*this->contactLinesIter)->SetPoint( 7, pos+(norm*0.2)-(e1*0.05)-(e2*0.05));
+
+ (*this->contactLinesIter)->SetPoint( 8, pos+(norm*0.2)+(e1*0.05)+(e2*0.05));
+ (*this->contactLinesIter)->SetPoint( 9, pos+(norm*0.2)-(e1*0.05)+(e2*0.05));
+
+ (*this->contactLinesIter)->SetPoint(10, pos+(norm*0.2)-(e1*0.05)+(e2*0.05));
+ (*this->contactLinesIter)->SetPoint(11, pos+(norm*0.2)-(e1*0.05)-(e2*0.05));
+
+ (*this->contactLinesIter)->SetPoint(12, pos+(norm*0.2)-(e1*0.05)-(e2*0.05));
+ (*this->contactLinesIter)->SetPoint(13, pos+(norm*0.2)+(e1*0.05)-(e2*0.05));
+
+ (*this->contactLinesIter)->SetPoint(14, pos+(norm*0.2)+(e1*0.05)-(e2*0.05));
+ (*this->contactLinesIter)->SetPoint(15, pos+(norm*0.2)+(e1*0.05)+(e2*0.05));
+
this->contactLinesIter++;
if (this->contactLinesIter == this->contactLines.end())
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