Revision: 8927
http://playerstage.svn.sourceforge.net/playerstage/?rev=8927&view=rev
Author: natepak
Date: 2010-10-01 20:00:24 +0000 (Fri, 01 Oct 2010)
Log Message:
-----------
Renamed some materials
Modified Paths:
--------------
code/gazebo/branches/wx/server/physics/Body.cc
code/gazebo/branches/wx/server/physics/Joint.cc
code/gazebo/branches/wx/server/physics/MultiRayShape.cc
code/gazebo/branches/wx/server/physics/RayShape.cc
code/gazebo/branches/wx/server/rendering/Light.cc
code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc
code/gazebo/branches/wx/server/rendering/UserCamera.cc
code/gazebo/branches/wx/worlds/empty.world
Added Paths:
-----------
code/gazebo/branches/wx/worlds/spheres.world
Modified: code/gazebo/branches/wx/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/wx/server/physics/Body.cc 2010-10-01 18:59:56 UTC
(rev 8926)
+++ code/gazebo/branches/wx/server/physics/Body.cc 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -397,7 +397,7 @@
for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
{
OgreDynamicLines *line =
OgreCreator::Instance()->CreateDynamicLine(OgreDynamicRenderable::OT_LINE_LIST);
- line->setMaterial("Gazebo/GreenEmissive");
+ line->setMaterial("Gazebo/GreenGlow");
this->cgVisual->AttachObject(line);
line->AddPoint(Vector3(0,0,0));
line->AddPoint(giter->second->GetRelativePose().pos);
Modified: code/gazebo/branches/wx/server/physics/Joint.cc
===================================================================
--- code/gazebo/branches/wx/server/physics/Joint.cc 2010-10-01 18:59:56 UTC
(rev 8926)
+++ code/gazebo/branches/wx/server/physics/Joint.cc 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -157,8 +157,8 @@
this->line1 =
OgreCreator::Instance()->CreateDynamicLine(OgreDynamicRenderable::OT_LINE_LIST);
this->line2 =
OgreCreator::Instance()->CreateDynamicLine(OgreDynamicRenderable::OT_LINE_LIST);
- this->line1->setMaterial("Gazebo/BlueEmissive");
- this->line2->setMaterial("Gazebo/BlueEmissive");
+ this->line1->setMaterial("Gazebo/BlueGlow");
+ this->line2->setMaterial("Gazebo/BlueGlow");
this->visual->AttachObject(this->line1);
this->visual->AttachObject(this->line2);
Modified: code/gazebo/branches/wx/server/physics/MultiRayShape.cc
===================================================================
--- code/gazebo/branches/wx/server/physics/MultiRayShape.cc 2010-10-01
18:59:56 UTC (rev 8926)
+++ code/gazebo/branches/wx/server/physics/MultiRayShape.cc 2010-10-01
20:00:24 UTC (rev 8927)
@@ -21,7 +21,7 @@
this->geomParent->GetVisualNode()->AttachObject(this->rayFanOutline);
this->rayFan->setMaterial("Gazebo/BlueLaser");
- this->rayFanOutline->setMaterial("Gazebo/BlueEmissive");
+ this->rayFanOutline->setMaterial("Gazebo/BlueGlow");
}
Param::Begin(&this->parameters);
Modified: code/gazebo/branches/wx/server/physics/RayShape.cc
===================================================================
--- code/gazebo/branches/wx/server/physics/RayShape.cc 2010-10-01 18:59:56 UTC
(rev 8926)
+++ code/gazebo/branches/wx/server/physics/RayShape.cc 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -46,7 +46,7 @@
this->geomParent->GetVisualNode()->AttachObject(this->line);
- this->line->setMaterial("Gazebo/BlueEmissive");
+ this->line->setMaterial("Gazebo/BlueGlow");
this->line->setVisibilityFlags(GZ_LASER_CAMERA);
}
Modified: code/gazebo/branches/wx/server/rendering/Light.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/Light.cc 2010-10-01 18:59:56 UTC
(rev 8926)
+++ code/gazebo/branches/wx/server/rendering/Light.cc 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -269,7 +269,7 @@
}
- this->line->setMaterial("Gazebo/WhiteEmissive");
+ this->line->setMaterial("Gazebo/WhiteGlow");
this->line->setVisibilityFlags(GZ_LASER_CAMERA);
this->visualNode->AttachObject(line);
@@ -287,9 +287,9 @@
if (this->light->getType() != Ogre::Light::LT_DIRECTIONAL)
{
if (s)
- this->line->setMaterial("Gazebo/PurpleEmissive");
+ this->line->setMaterial("Gazebo/PurpleGlow");
else
- this->line->setMaterial("Gazebo/WhiteEmissive");
+ this->line->setMaterial("Gazebo/WhiteGlow");
}
return true;
Modified: code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc 2010-10-01
18:59:56 UTC (rev 8926)
+++ code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc 2010-10-01
20:00:24 UTC (rev 8927)
@@ -37,7 +37,7 @@
#include "RTShaderSystem.hh"
#include "gz.h"
-#define MINOR_VERSION 7
+#define MINOR_VERSION 70
using namespace gazebo;
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/wx/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/UserCamera.cc 2010-10-01
18:59:56 UTC (rev 8926)
+++ code/gazebo/branches/wx/server/rendering/UserCamera.cc 2010-10-01
20:00:24 UTC (rev 8927)
@@ -144,7 +144,7 @@
line->AddPoint(Vector3(0.0, +0.00, +f+0.15));
line->AddPoint(Vector3(0.0, -0.02, +f+0.1));
- line->setMaterial("Gazebo/WhiteEmissive");
+ line->setMaterial("Gazebo/WhiteGlow");
line->setVisibilityFlags(GZ_LASER_CAMERA);
this->visual->AttachObject(line);
Modified: code/gazebo/branches/wx/worlds/empty.world
===================================================================
--- code/gazebo/branches/wx/worlds/empty.world 2010-10-01 18:59:56 UTC (rev
8926)
+++ code/gazebo/branches/wx/worlds/empty.world 2010-10-01 20:00:24 UTC (rev
8927)
@@ -1,5 +1,4 @@
-<?xml version="1.0"?>
-
+<?xml version="1.0"?>
<gazebo:world
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
@@ -57,127 +56,10 @@
</geom:plane>
</body:plane>
</model:physical>
-
-
- <model:physical name="sphere1_model">
- <xyz>-.5 0 0.3</xyz>
- <rpy>0 0.0 0.0</rpy>
- <static>true</static>
-
- <body:sphere name="sphere1_body">
- <geom:box name="sphere1_geom">
- <size>0.5 0.5 0.5</size>
- <mass>1.0</mass>
-
- <mu1>109999.0</mu1>
-
- <visual>
- <size>.5 .5 .5</size>
- <mesh>unit_box</mesh>
- <shader>pixel</shader>
- <material>Gazebo/Grey</material>
- </visual>
- </geom:box>
- </body:sphere>
- </model:physical>
-
- <model:physical name="sphere2_model">
- <xyz>0 0.6 0.6</xyz>
- <rpy>0 0.0 0.0</rpy>
- <static>true</static>
-
- <body:sphere name="sphere1_body">
- <geom:box name="sphere1_geom">
- <size>0.5 0.5 0.5</size>
- <mass>1.0</mass>
-
- <mu1>109999.0</mu1>
-
- <visual>
- <size>.5 .5 .5</size>
- <mesh>unit_sphere</mesh>
- <shader>pixel</shader>
- <material>Gazebo/Grey</material>
- </visual>
- </geom:box>
- </body:sphere>
- </model:physical>
-
-
-
- <!--
- <model:physical name="sphere2_model">
- <xyz>-1 0 0.25</xyz>
- <rpy>0 0.0 0.0</rpy>
- <static>true</static>
-
- <body:sphere name="sphere1_body">
- <geom:box name="sphere1_geom">
- <size>0.2 0.2 0.5</size>
- <mass>1.0</mass>
-
- <mu1>109999.0</mu1>
-
- <visual>
- <size>.2 .2 .5</size>
- <mesh>unit_box</mesh>
- <shader>pixel</shader>
- <material>Gazebo/GrayGrid</material>
- </visual>
- </geom:box>
- </body:sphere>
- </model:physical>
-
-
- <model:physical name="sphere3_model">
- <xyz>0 1 0.25</xyz>
- <rpy>0 0.0 0.0</rpy>
- <static>true</static>
-
- <body:sphere name="sphere1_body">
- <geom:box name="sphere1_geom">
- <size>0.2 0.2 0.5</size>
- <mass>1.0</mass>
-
- <mu1>109999.0</mu1>
-
- <visual>
- <size>.2 .2 .5</size>
- <mesh>unit_box</mesh>
- <shader>pixel</shader>
- <material>Gazebo/GrayGrid</material>
- </visual>
- </geom:box>
- </body:sphere>
- </model:physical>
-
- <model:physical name="sphere4_model">
- <xyz>0 -1 0.25</xyz>
- <rpy>0 0.0 0.0</rpy>
- <static>true</static>
-
- <body:sphere name="sphere1_body">
- <geom:box name="sphere1_geom">
- <size>0.2 0.2 0.5</size>
- <mass>1.0</mass>
-
- <mu1>109999.0</mu1>
-
- <visual>
- <size>.2 .2 .5</size>
- <mesh>unit_box</mesh>
- <shader>pixel</shader>
- <material>Gazebo/GrayGrid</material>
- </visual>
- </geom:box>
- </body:sphere>
- </model:physical>
- -->
-
-
+
<!-- White Point light -->
<model:renderable name="point_white">
- <xyz>0.0 0 2</xyz>
+ <xyz>0.0 0 10</xyz>
<rpy>0 0 0</rpy>
<static>true</static>
<light>
@@ -185,33 +67,10 @@
<diffuseColor>0.6 0.6 0.6 1.0</diffuseColor>
<specularColor>1 1 1 1.0</specularColor>
<attenuation>.1 0.2 0.001</attenuation>
- <innerAngle>10</innerAngle>
- <outerAngle>60</outerAngle>
- <falloff>1.0</falloff>
<range>50</range>
<direction>0 0 -1.0</direction>
<castShadows>true</castShadows>
</light>
</model:renderable>
-
- <!-- White Point light -->
- <!--<model:renderable name="point_white2">
- <xyz>0.0 0.0 2</xyz>
- <rpy>30 0 0</rpy>
- <static>true</static>
- <light>
- <type>spot</type>
- <diffuseColor>0.8 0.8 0.8 1.0</diffuseColor>
- <specularColor>.1 .1 .1 1.0</specularColor>
- <attenuation>.1 0 0</attenuation>
- <innerAngle>20</innerAngle>
- <outerAngle>40</outerAngle>
- <falloff>1.0</falloff>
- <range>100</range>
- <direction>0 0 -1</direction>
- <castShadows>true</castShadows>
- </light>
- </model:renderable>
- -->
</gazebo:world>
Added: code/gazebo/branches/wx/worlds/spheres.world
===================================================================
--- code/gazebo/branches/wx/worlds/spheres.world
(rev 0)
+++ code/gazebo/branches/wx/worlds/spheres.world 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -0,0 +1,331 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
+
+ <verbosity>4</verbosity>
+
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>0.0000000001</cfm>
+ <erp>0.2</erp>
+
+ <stepType>quick</stepType>
+ <stepIters>10</stepIters>
+ <stepW>1.3</stepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.0</contactSurfaceLayer>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>.2 .2 .2 1</ambient>
+ <shadows>true</shadows>
+ <grid>false</grid>
+ </rendering:ogre>
+
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>100 100</size>
+ <segments>1 1</segments>
+ <uvTile>100 100</uvTile>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
+ <material>Gazebo/GrayGrid</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+
+ <model:physical name="sphere_red">
+ <xyz>-1.0 0 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/Red</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_green">
+ <xyz>-0.5 0 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/Green</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_blue">
+ <xyz>-0.0 0 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/Blue</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_yellow">
+ <xyz>0.5 0 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/Yellow</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_purple">
+ <xyz>1.0 0 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/Purple</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_turquoise">
+ <xyz>1.5 0 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/Turquoise</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+
+
+
+
+ <model:physical name="sphere_red_glow">
+ <xyz>-1.0 1.0 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/RedGlow</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_green_glow">
+ <xyz>-0.5 1 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/GreenGlow</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_blue_glow">
+ <xyz>-0.0 1 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/BlueGlow</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_yellow_glow">
+ <xyz>0.5 1 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/YellowGlow</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_purple_glow">
+ <xyz>1.0 1 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/PurpleGlow</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+ <model:physical name="sphere_turquoise_glow">
+ <xyz>1.5 1 0.25</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:sphere name="body">
+ <geom:sphere name="geom">
+ <size>0.5 0.5 0.5</size>
+ <mass>1.0</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/TurquoiseGlow</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </model:physical>
+
+
+
+
+ <!-- White Point light -->
+ <model:renderable name="spot_light">
+ <xyz>-1.0 0 2</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+ <light>
+ <type>spot</type>
+ <diffuseColor>0.2 0.2 0.2 1.0</diffuseColor>
+ <specularColor>1 1 1 1.0</specularColor>
+ <attenuation>.1 0.2 0.001</attenuation>
+ <innerAngle>30</innerAngle>
+ <outerAngle>30</outerAngle>
+ <falloff>1.0</falloff>
+ <range>50</range>
+ <direction>0 0 -1.0</direction>
+ <castShadows>true</castShadows>
+ </light>
+ </model:renderable>
+
+ <model:renderable name="directional_light">
+ <xyz>1.0 0 2</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+ <light>
+ <type>directional</type>
+ <diffuseColor>0.2 0.2 0.2 1.0</diffuseColor>
+ <specularColor>1 1 1 1.0</specularColor>
+ <attenuation>.1 0.2 0.001</attenuation>
+ <range>50</range>
+ <direction>.3 0 -0.7</direction>
+ <castShadows>true</castShadows>
+ </light>
+ </model:renderable>
+
+</gazebo:world>
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