Revision: 8969
http://playerstage.svn.sourceforge.net/playerstage/?rev=8969&view=rev
Author: natepak
Date: 2010-11-15 15:52:22 +0000 (Mon, 15 Nov 2010)
Log Message:
-----------
Fixed bugs with multi-world upgrade
Modified Paths:
--------------
code/gazebo/branches/dev/cmake/SearchForStuff.cmake
code/gazebo/branches/dev/libgazebo/CMakeLists.txt
code/gazebo/branches/dev/server/CMakeLists.txt
code/gazebo/branches/dev/server/Events.cc
code/gazebo/branches/dev/server/FactoryIfaceHandler.cc
code/gazebo/branches/dev/server/Model.cc
code/gazebo/branches/dev/server/Model.hh
code/gazebo/branches/dev/server/OgreLoader.hh
code/gazebo/branches/dev/server/SimulationIfaceHandler.cc
code/gazebo/branches/dev/server/Simulator.cc
code/gazebo/branches/dev/server/Simulator.hh
code/gazebo/branches/dev/server/World.cc
code/gazebo/branches/dev/server/World.hh
code/gazebo/branches/dev/server/controllers/Controller.cc
code/gazebo/branches/dev/server/controllers/Controller.hh
code/gazebo/branches/dev/server/controllers/audio/Audio.cc
code/gazebo/branches/dev/server/main.cc
code/gazebo/branches/dev/server/physics/Body.cc
code/gazebo/branches/dev/server/physics/Geom.cc
code/gazebo/branches/dev/server/physics/Geom.hh
code/gazebo/branches/dev/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/dev/server/rendering/OgreAdaptor.cc
code/gazebo/branches/dev/server/rendering/OgreAdaptor.hh
code/gazebo/branches/dev/server/sensors/Sensor.cc
code/gazebo/branches/dev/server/wx/BoxMaker.cc
code/gazebo/branches/dev/server/wx/CylinderMaker.cc
code/gazebo/branches/dev/server/wx/DirectionalLightMaker.cc
code/gazebo/branches/dev/server/wx/PhysicsPage.cc
code/gazebo/branches/dev/server/wx/PointLightMaker.cc
code/gazebo/branches/dev/server/wx/RenderControl.cc
code/gazebo/branches/dev/server/wx/SimulationApp.cc
code/gazebo/branches/dev/server/wx/SimulationApp.hh
code/gazebo/branches/dev/server/wx/SimulationFrame.cc
code/gazebo/branches/dev/server/wx/SphereMaker.cc
code/gazebo/branches/dev/server/wx/SpotLightMaker.cc
code/gazebo/branches/dev/server/wx/TimePanel.cc
code/gazebo/branches/dev/worlds/empty.world
Modified: code/gazebo/branches/dev/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/branches/dev/cmake/SearchForStuff.cmake 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/cmake/SearchForStuff.cmake 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -423,11 +423,11 @@
########################################
# Find profiler library, optional
-FIND_LIBRARY(PROFILER "profiler")
-IF (PROFILER)
- SET (CMAKE_LINK_FLAGS_PROFILE "${CMAKE_LINK_FLAGS_PROFILE} -lprofiler"
- CACHE INTERNAL "Link flags for profile" FORCE)
-ENDIF (PROFILER)
+#FIND_LIBRARY(PROFILER "profiler")
+#IF (PROFILER)
+# SET (CMAKE_LINK_FLAGS_PROFILE "${CMAKE_LINK_FLAGS_PROFILE} -lprofiler"
+# CACHE INTERNAL "Link flags for profile" FORCE)
+#ENDIF (PROFILER)
########################################
# Find tcmalloc library, optional
Modified: code/gazebo/branches/dev/libgazebo/CMakeLists.txt
===================================================================
--- code/gazebo/branches/dev/libgazebo/CMakeLists.txt 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/libgazebo/CMakeLists.txt 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -28,7 +28,7 @@
endif (CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE})
-target_link_libraries( gazeboshm ${boost_libraries} profiler)
+target_link_libraries( gazeboshm ${boost_libraries})
install (TARGETS gazeboshm DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
install (FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gazebo)
Modified: code/gazebo/branches/dev/server/CMakeLists.txt
===================================================================
--- code/gazebo/branches/dev/server/CMakeLists.txt 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/CMakeLists.txt 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -96,7 +96,6 @@
OgreLoader.cc
AssimpLoader.cc
STLLoader.cc
- Logger.cc
Plugin.cc
Events.cc
)
@@ -131,7 +130,6 @@
OgreLoader.hh
AssimpLoader.hh
STLLoader.hh
- Logger.hh
Events.hh
Plugin.hh
)
Modified: code/gazebo/branches/dev/server/Events.cc
===================================================================
--- code/gazebo/branches/dev/server/Events.cc 2010-11-15 03:06:34 UTC (rev
8968)
+++ code/gazebo/branches/dev/server/Events.cc 2010-11-15 15:52:22 UTC (rev
8969)
@@ -3,7 +3,7 @@
using namespace gazebo;
boost::signal<void (bool)> Events::pauseSignal;
-boost::signal<void (bool)> Events::stepSignal;
+boost::signal<void ()> Events::stepSignal;
boost::signal<void (bool)> Events::moveModeSignal;
boost::signal<void (bool)> Events::manipModeSignal;
Modified: code/gazebo/branches/dev/server/FactoryIfaceHandler.cc
===================================================================
--- code/gazebo/branches/dev/server/FactoryIfaceHandler.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/FactoryIfaceHandler.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -51,7 +51,7 @@
// Create the iface
try
{
- this->factoryIface->Create(this->world->GetGzServer(),
this->world->GetGzServer());
+ this->factoryIface->Create(this->world->GetGzServer(),
this->world->GetGzServer()->serverName);
this->factoryIface->Lock(1); // lock it right away to clear up data
strcpy((char*)this->factoryIface->data->newModel,"");
this->factoryIface->Unlock();
Modified: code/gazebo/branches/dev/server/Model.cc
===================================================================
--- code/gazebo/branches/dev/server/Model.cc 2010-11-15 03:06:34 UTC (rev
8968)
+++ code/gazebo/branches/dev/server/Model.cc 2010-11-15 15:52:22 UTC (rev
8969)
@@ -24,8 +24,6 @@
* SVN: $Id$
*/
-//#include <boost/python.hpp>
-
#include <tbb/parallel_for.h>
#include <tbb/blocked_range.h>
@@ -225,8 +223,7 @@
this->laserFiducialP->Load(node);
this->laserRetroP->Load(node);
- this->xmlNode = node;
- this->modelType=node->GetName();
+ this->modelType = node->GetString("type", "physical", 1);
this->SetStatic( **(this->staticP) );
@@ -255,11 +252,11 @@
this->SetInitPose(pose);
// Load controllers
- childNode = node->GetChildByNSPrefix("controller");
+ childNode = node->GetChild("controller");
while (childNode)
{
this->LoadController(childNode);
- childNode = childNode->GetNextByNSPrefix("controller");
+ childNode = childNode->GetNext("controller");
}
// Create a default body if one does not exist in the XML file
@@ -308,26 +305,6 @@
// Create the graphics iface handler
this->graphicsHandler = new GraphicsIfaceHandler(this->GetWorld());
this->graphicsHandler->Load(this->GetScopedName(), this);
-
- // Get the name of the python module
-
/*this->pName.reset(PyString_FromString(node->GetString("python","",0).c_str()));
- //this->pName.reset(PyString_FromString("pioneer2dx"));
-
- // Import the python module
- if (this->pName)
- {
- this->pModule.reset(PyImport_Import(this->pName));
- Py_DECREF(this->pName);
- }
-
- // Get the Update function from the module
- if (this->pModule)
- {
- this->pFuncUpdate.reset(PyObject_GetAttrString(this->pModule, "Update"));
- if (this->pFuncUpdate && !PyCallable_Check(this->pFuncUpdate))
- this->pFuncUpdate = NULL;
- }
- */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/Model.hh
===================================================================
--- code/gazebo/branches/dev/server/Model.hh 2010-11-15 03:06:34 UTC (rev
8968)
+++ code/gazebo/branches/dev/server/Model.hh 2010-11-15 15:52:22 UTC (rev
8969)
@@ -257,9 +257,6 @@
/// \brief Type of the model (such as Pioneer2DX, or SimpleSolid)
private: std::string modelType;
- /// \brief The node this model was loaded from
- private: XMLConfigNode *xmlNode;
-
/// \brief Initial pose of the model
private: Pose3d initPose;
Modified: code/gazebo/branches/dev/server/OgreLoader.hh
===================================================================
--- code/gazebo/branches/dev/server/OgreLoader.hh 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/OgreLoader.hh 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -33,6 +33,7 @@
#include <string>
#include <list>
#include <vector>
+#include <stdint.h>
#include "MeshLoader.hh"
#include "GazeboError.hh"
Modified: code/gazebo/branches/dev/server/SimulationIfaceHandler.cc
===================================================================
--- code/gazebo/branches/dev/server/SimulationIfaceHandler.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/SimulationIfaceHandler.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -34,7 +34,8 @@
#include "World.hh"
#include "PhysicsEngine.hh"
#include "Joint.hh"
-#include "Logger.hh"
+// NATY: put back in
+//#include "Logger.hh"
#include "gz.h"
#include "SimulationIfaceHandler.hh"
@@ -846,13 +847,15 @@
case libgazebo::SimulationRequestData::START_LOG:
{
- Logger::Instance()->AddLog(req->name, req->strValue);
+ // NATY: put back in
+ //Logger::Instance()->AddLog(req->name, req->strValue);
break;
}
case libgazebo::SimulationRequestData::STOP_LOG:
{
- Logger::Instance()->RemoveLog(req->name);
+ // NATY: Put back in
+ // Logger::Instance()->RemoveLog(req->name);
break;
}
Modified: code/gazebo/branches/dev/server/Simulator.cc
===================================================================
--- code/gazebo/branches/dev/server/Simulator.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/Simulator.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -122,12 +122,13 @@
physicsQuit(false),
guiEnabled(true),
renderEngineEnabled(true),
- physicsEnabled(true),
+ physicsEnabled(true)
{
PhysicsFactory::RegisterAll();
+ this->activeWorldIndex = 0;
- this->render_mutex = new boost::recursive_mutex();
- this->model_delete_mutex = new boost::recursive_mutex();
+ //this->render_mutex = new boost::recursive_mutex();
+ //this->model_delete_mutex = new boost::recursive_mutex();
this->gazeboConfig=new gazebo::GazeboConfig();
}
@@ -135,12 +136,14 @@
// Destructor
Simulator::~Simulator()
{
+ this->Fini();
if (this->gazeboConfig)
{
delete this->gazeboConfig;
this->gazeboConfig = NULL;
}
+ /* NATY
if (this->render_mutex)
{
delete this->render_mutex;
@@ -152,10 +155,7 @@
delete this->model_delete_mutex;
this->model_delete_mutex = NULL;
}
-
- for (unsigned int i=0; i < this->worlds.size(); i++)
- delete this->worlds[i];
- this->worlds[i].clear();
+ */
}
////////////////////////////////////////////////////////////////////////////////
@@ -172,9 +172,6 @@
}
this->worlds.clear();
- if (this->renderEngineEnabled)
- gazebo::OgreAdaptor::Instance()->Close();
-
if (this->gui)
{
delete this->gui;
@@ -210,7 +207,7 @@
}
XMLConfigNode *rootNode(xmlFile->GetRootNode());
- XMLConfigNode *confgNode = rootNode->GetChild("config");
+ XMLConfigNode *configNode = rootNode->GetChild("config");
// Load the messaging system
gazebo::GazeboMessage::Instance()->Load(configNode);
@@ -323,6 +320,7 @@
pluginNode = pluginNode->GetNext("plugin");
}
+ this->worlds.push_back(world);
worldNode = worldNode->GetNext("world");
}
@@ -362,8 +360,40 @@
else
return NULL;
}
-
+
////////////////////////////////////////////////////////////////////////////////
+/// Set the active world
+void Simulator::SetActiveWorld(unsigned int i)
+{
+ if (i < this->worlds.size())
+ this->activeWorldIndex = i;
+ else
+ gzerr(0) << "Invalid world index[" << i << "]\n";
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the active world
+void Simulator::SetActiveWorld(World *world)
+{
+ unsigned int i=0;
+ for (; i < this->worlds.size(); i++)
+ if (this->worlds[i]->GetName() == world->GetName())
+ break;
+
+ if (i < this->worlds.size())
+ this->activeWorldIndex = i;
+ else
+ gzerr(0) << "Invalid world [" << world->GetName() << "]\n";
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the currently active world
+World *Simulator::GetActiveWorld() const
+{
+ return this->worlds[this->activeWorldIndex];
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Initialize the simulation
void Simulator::Init()
{
@@ -439,13 +469,12 @@
{
while (!this->userQuit)
{
- currTime = this->GetWallTime();
+ currTime = Time::GetWallTime();
if ( currTime - lastTime > 1.0/freq)
{
- lastTime = this->GetWallTime();
-
+ lastTime = Time::GetWallTime();
this->GraphicsUpdate();
- currTime = this->GetWallTime();
+ currTime = Time::GetWallTime();
if (currTime - lastTime < 1/freq)
{
Time sleepTime = ( Time(1.0/freq) - (currTime - lastTime));
@@ -471,17 +500,19 @@
void Simulator::GraphicsUpdate()
{
- if (this->gui)
- this->gui->Update();
-
if (this->renderEngineEnabled)
{
OgreAdaptor::Instance()->UpdateScenes();
- World::Instance()->GraphicsUpdate();
+ for (unsigned int i=0; i < this->worlds.size(); i++)
+ this->worlds[i]->GraphicsUpdate();
}
- World::Instance()->ProcessEntitiesToLoad();
- World::Instance()->ProcessEntitiesToDelete();
+ for (unsigned int i=0; i < this->worlds.size(); i++)
+ {
+ this->worlds[i]->ProcessEntitiesToLoad();
+ this->worlds[i]->ProcessEntitiesToDelete();
+ }
+
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/Simulator.hh
===================================================================
--- code/gazebo/branches/dev/server/Simulator.hh 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/Simulator.hh 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -97,6 +97,15 @@
/// \brief Get a world by number
public: World *GetWorld(unsigned int i) const;
+ /// \brief Set the active world
+ public: void SetActiveWorld(unsigned int i);
+
+ /// \brief Set the active world
+ public: void SetActiveWorld(World *world);
+
+ /// \brief Get the currently active world
+ public: World *GetActiveWorld() const;
+
/// \brief Main simulation loop, when this loop ends the simulation
finish
public: void Run();
@@ -186,6 +195,7 @@
private: static std::string defaultWorldXML;
private: std::vector< World* > worlds;
+ private: unsigned int activeWorldIndex;
private: std::vector<Plugin*> plugins;
Modified: code/gazebo/branches/dev/server/World.cc
===================================================================
--- code/gazebo/branches/dev/server/World.cc 2010-11-15 03:06:34 UTC (rev
8968)
+++ code/gazebo/branches/dev/server/World.cc 2010-11-15 15:52:22 UTC (rev
8969)
@@ -49,8 +49,10 @@
#include "Simulator.hh"
#include "gz.h"
#include "World.hh"
-#include "Logger.hh"
+// NATY: put back in
+//#include "Logger.hh"
+
#include "OpenAL.hh"
#include "Geom.hh"
@@ -116,12 +118,10 @@
// Load the world
void World::Load(XMLConfigNode *rootNode)//, unsigned int serverId)
{
-
this->nameP->Load(rootNode);
this->saveStateTimeoutP->Load(rootNode);
this->saveStateBufferSizeP->Load(rootNode);
-
// Create the server object (needs to be done before models initialize)
if (this->server == NULL)
{
@@ -162,15 +162,15 @@
}
// Load OpenAL audio
- if (rootNode && rootNode->GetChild("openal","audio"))
+ if (rootNode && rootNode->GetChild("audio"))
{
this->openAL = OpenAL::Instance();
- this->openAL->Load(rootNode->GetChild("openal", "audio"));
+ this->openAL->Load(rootNode->GetChild("audio"));
}
XMLConfigNode *physicsNode = NULL;
if (rootNode )
- physicsNode = rootNode->GetChildByNSPrefix("physics");
+ physicsNode = rootNode->GetChild("physics");
if (Simulator::Instance()->GetPhysicsEnabled() && physicsNode)
{
@@ -179,8 +179,9 @@
delete this->physicsEngine;
this->physicsEngine = NULL;
}
+ std::string type = physicsNode->GetString("type","ode",1);
- this->physicsEngine = PhysicsFactory::NewPhysicsEngine(
physicsNode->GetName(), this);
+ this->physicsEngine = PhysicsFactory::NewPhysicsEngine( type, this);
if (this->physicsEngine == NULL)
gzthrow("Unable to create physics engine\n");
}
@@ -188,7 +189,7 @@
this->physicsEngine = PhysicsFactory::NewPhysicsEngine("ode", this);
// This should come before loading of entities
- this->physicsEngine->Load(rootNode);
+ this->physicsEngine->Load(physicsNode);
// last bool is initModel, init model is not needed as Init()
// is called separately from main.cc
@@ -393,7 +394,8 @@
// Process all incoming messages from simiface
this->simIfaceHandler->Update();
- Logger::Instance()->Update();
+ // NATY: put back in
+ //Logger::Instance()->Update();
Events::worldUpdateEndSignal();
}
@@ -516,10 +518,10 @@
XMLConfigNode *cnode;
Model *model = NULL;
- if (node && node->GetNSPrefix() != "")
+ if (node)
{
// Check for model nodes
- if (node->GetNSPrefix() == "model")
+ if (node->GetName() == "model")
{
model = this->LoadModel(node, parent, removeDuplicate, initModel);
Events::addEntitySignal(model->GetCompleteScopedName());
@@ -642,6 +644,7 @@
{
Pose3d pose;
Model *model = new Model(parent);
+ model->SetWorld(this);
// Load the model
model->Load( node, removeDuplicate );
Modified: code/gazebo/branches/dev/server/World.hh
===================================================================
--- code/gazebo/branches/dev/server/World.hh 2010-11-15 03:06:34 UTC (rev
8968)
+++ code/gazebo/branches/dev/server/World.hh 2010-11-15 15:52:22 UTC (rev
8969)
@@ -74,10 +74,10 @@
class World
{
/// Private constructor
- private: World();
+ public: World();
/// Private destructor
- private: ~World();
+ public: ~World();
/// Load the world
/// \param node XMLConfig node point
Modified: code/gazebo/branches/dev/server/controllers/Controller.cc
===================================================================
--- code/gazebo/branches/dev/server/controllers/Controller.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/controllers/Controller.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -44,6 +44,7 @@
Controller::Controller(Entity *entity )
{
Param::Begin(&this->parameters);
+ this->typeP = new ParamT<std::string>("type","",1);
this->nameP = new ParamT<std::string>("name","",1);
this->alwaysOnP = new ParamT<bool>("alwaysOn", false, 0);
this->updatePeriodP = new ParamT<double>("updateRate", 10, 0);
@@ -61,6 +62,7 @@
/// Destructor
Controller::~Controller()
{
+ delete this->typeP;
delete this->nameP;
delete this->alwaysOnP;
delete this->updatePeriodP;
@@ -75,22 +77,16 @@
if (!this->parent)
gzthrow("Parent entity has not been set");
- this->typeName = node->GetName();
-
+ this->typeP->Load(node);
this->nameP->Load(node);
this->alwaysOnP->Load(node);
this->updatePeriodP->Load(node);
- double updateRate = this->updatePeriodP->GetValue();
- if (updateRate == 0)
- this->updatePeriod = 0.0; // no throttling if updateRate is 0
- else
- this->updatePeriod = 1.0 / updateRate;
this->lastUpdate = this->parent->GetWorld()->GetSimTime();
- childNode = node->GetChildByNSPrefix("interface");
+ childNode = node->GetChild("interface");
// Create the interfaces
while (childNode)
@@ -98,7 +94,7 @@
libgazebo::Iface *iface=0;
// Get the type of the interface (eg: laser)
- std::string ifaceType = childNode->GetName();
+ std::string ifaceType = childNode->GetString("type","",1);
// Get the name of the iface
std::string ifaceName = childNode->GetString("name","",1);
@@ -121,7 +117,7 @@
catch (...) //TODO: Show the exception text here (subclass exception?)
{
gzmsg(1) << "No libgazebo Iface for the interface[" << ifaceType << "]
found. Disabled.\n";
- childNode = childNode->GetNextByNSPrefix("interface");
+ childNode = childNode->GetNext("interface");
continue;
}
@@ -137,7 +133,7 @@
this->ifaces.push_back(iface);
- childNode = childNode->GetNextByNSPrefix("interface");
+ childNode = childNode->GetNext("interface");
}
this->LoadChild(node);
@@ -157,21 +153,21 @@
{
std::vector<libgazebo::Iface*>::iterator iter;
- stream << prefix << "<controller:" << this->typeName << " name=\"" <<
this->nameP->GetValue() << "\">\n";
+ stream << prefix << "<controller type=\"" << **this->typeP << "\" name=\""
<< **this->nameP << "\">\n";
stream << prefix << " " << *(this->updatePeriodP) << "\n";
// Ouptut the interfaces
for (iter = this->ifaces.begin(); iter != this->ifaces.end(); iter++)
{
- stream << prefix << " <interface:" << (*iter)->GetType() << " name=\"" <<
(*iter)->GetId() << "\"/>\n";
+ stream << prefix << " <interface type=\"" << (*iter)->GetType() << "\"
name=\"" << (*iter)->GetId() << "\"/>\n";
}
std::string p = prefix + " ";
this->SaveChild(p, stream);
- stream << prefix << "</controller:" << this->typeName << ">\n";
+ stream << prefix << "</controller>\n";
}
////////////////////////////////////////////////////////////////////////////////
@@ -195,7 +191,7 @@
//timer.Start();
Time simTime = this->parent->GetWorld()->GetSimTime();
- if ((simTime-lastUpdate-updatePeriod)/physics_dt >= 0)
+ if ((simTime-lastUpdate - **this->updatePeriodP)/physics_dt >= 0)
{
this->UpdateChild();
lastUpdate = this->parent->GetWorld()->GetSimTime();
Modified: code/gazebo/branches/dev/server/controllers/Controller.hh
===================================================================
--- code/gazebo/branches/dev/server/controllers/Controller.hh 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/controllers/Controller.hh 2010-11-15
15:52:22 UTC (rev 8969)
@@ -111,7 +111,10 @@
/// \param number If several ifaces of the same type present, which one
/// \return Iface, or exception if not found.
protected: libgazebo::Iface* GetIface(std::string type, bool mandatory=true,
int number=0);
-
+
+ /// The type of the controller
+ protected: ParamT<std::string> *typeP;
+
/// \brief The controller's name
protected: ParamT<std::string> *nameP;
@@ -122,11 +125,8 @@
protected: ParamT<bool> *alwaysOnP;
/// \brief Update period
- protected: double updatePeriod;
protected: ParamT<double> *updatePeriodP;
- private: std::string typeName;
-
/// \brief Last update time
protected: Time lastUpdate;
Modified: code/gazebo/branches/dev/server/controllers/audio/Audio.cc
===================================================================
--- code/gazebo/branches/dev/server/controllers/audio/Audio.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/controllers/audio/Audio.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -25,6 +25,7 @@
*/
#include "Global.hh"
+#include "World.hh"
#include "XMLConfig.hh"
#include "Model.hh"
#include "Simulator.hh"
Modified: code/gazebo/branches/dev/server/main.cc
===================================================================
--- code/gazebo/branches/dev/server/main.cc 2010-11-15 03:06:34 UTC (rev
8968)
+++ code/gazebo/branches/dev/server/main.cc 2010-11-15 15:52:22 UTC (rev
8969)
@@ -255,7 +255,8 @@
try
{
gazebo::Simulator::Instance()->Load(worldFileName);
- gazebo::Simulator::Instance()->SetTimeout(optTimeout);
+ // NATY: Put back in
+ //gazebo::Simulator::Instance()->SetTimeout(optTimeout);
gazebo::Simulator::Instance()->SetPhysicsEnabled(optPhysicsEnabled);
gazebo::Simulator::Instance()->CreateWorld(worldFileName);
@@ -271,7 +272,8 @@
// Initialize the simulator
try
{
- gazebo::Simulator::Instance()->SetPaused(optPaused);
+ // NATY: put back in
+ //gazebo::Simulator::Instance()->SetPaused(optPaused);
gazebo::Simulator::Instance()->Init();
}
catch (gazebo::GazeboError e)
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -199,24 +199,24 @@
// this body's pose - this body's offsetFromModelFrame
this->initModelOffset = this->GetRelativePose().CoordPoseSolve(Pose3d());
- childNode = node->GetChildByNSPrefix("geom");
+ childNode = node->GetChild("geom");
// Load the geometries
while (childNode)
{
// Create and Load a geom, which will belong to this body.
this->LoadGeom(childNode);
- childNode = childNode->GetNextByNSPrefix("geom");
+ childNode = childNode->GetNext("geom");
}
- childNode = node->GetChildByNSPrefix("sensor");
+ childNode = node->GetChild("sensor");
// Load the sensors
while (childNode)
{
// Create and Load a sensor, which will belong to this body.
this->LoadSensor(childNode);
- childNode = childNode->GetNextByNSPrefix("sensor");
+ childNode = childNode->GetNext("sensor");
}
this->SetKinematic(**this->kinematicP);
@@ -494,11 +494,12 @@
void Body::LoadGeom(XMLConfigNode *node)
{
Geom *geom = NULL;
+ std::string type = node->GetString("type","",1);
- if (node->GetName() == "heightmap" || node->GetName() == "map")
+ if (type == "heightmap" || type == "map")
this->SetStatic(true);
- geom = this->GetWorld()->GetPhysicsEngine()->CreateGeom(node->GetName(),
this);
+ geom = this->GetWorld()->GetPhysicsEngine()->CreateGeom(type, this);
if (!geom)
gzthrow("Unknown Geometry Type["+
@@ -518,8 +519,10 @@
gzthrow("Null node pointer. Invalid sensor in the world file.");
}
- sensor = SensorFactory::NewSensor(node->GetName(), this);
+ std::string type = node->GetString("type","",1);
+ sensor = SensorFactory::NewSensor(type, this);
+
if (sensor)
{
sensor->Load(node);
Modified: code/gazebo/branches/dev/server/physics/Geom.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/physics/Geom.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -51,8 +51,6 @@
{
this->AddType(GEOM);
- this->typeName = "unknown";
-
this->body = body;
// Create the contact parameters
@@ -67,6 +65,8 @@
this->contactsEnabled = false;
Param::Begin(&this->parameters);
+ this->typeP = new ParamT<std::string>("type","unknown",1);
+
this->massP = new ParamT<double>("mass",0.001,0);
this->massP->Callback( &Geom::SetMass, this);
@@ -111,6 +111,7 @@
this->bbVisual = NULL;
}
+ delete this->typeP;
delete this->massP;
delete this->xyzP;
delete this->rpyP;
@@ -144,10 +145,7 @@
{
XMLConfigNode *childNode = NULL;
- this->xmlNode=node;
-
- this->typeName = node->GetName();
-
+ this->typeP->Load(node);
this->nameP->Load(node);
this->SetName(this->nameP->GetValue());
this->massP->Load(node);
@@ -236,7 +234,7 @@
this->xyzP->SetValue( this->GetRelativePose().pos );
this->rpyP->SetValue( this->GetRelativePose().rot );
- stream << prefix << "<geom:" << this->typeName << " name=\""
+ stream << prefix << "<geom:" << **this->typeP << " name=\""
<< this->nameP->GetValue() << "\">\n";
stream << prefix << " " << *(this->xyzP) << "\n";
@@ -255,7 +253,7 @@
(*iter)->Save(p, stream);
}
- stream << prefix << "</geom:" << this->typeName << ">\n";
+ stream << prefix << "</geom>\n";
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/physics/Geom.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.hh 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/physics/Geom.hh 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -218,6 +218,7 @@
protected: Mass mass;
+ private: ParamT<std::string> *typeP;
private: ParamT<int> *laserFiducialIdP;
private: ParamT<float> *laserRetroP;
@@ -235,11 +236,6 @@
/// All the visual apparence
private: std::vector<OgreVisual*> visuals;
- ///our XML DATA
- private: XMLConfigNode *xmlNode;
-
- private: std::string typeName;
-
protected: Shape *shape;
private: bool contactsEnabled;
Modified: code/gazebo/branches/dev/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/ode/ODEPhysics.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/physics/ode/ODEPhysics.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -202,50 +202,45 @@
// Load the ODE engine
void ODEPhysics::Load(XMLConfigNode *node)
{
- XMLConfigNode *cnode = NULL;
+ this->gravityP->Load(node);
+ this->stepTimeP->Load(node);
+ this->updateRateP->Load(node);
+ this->globalCFMP->Load(node);
+ this->globalERPP->Load(node);
+ this->stepTypeP->Load(node);
+ this->stepItersP->Load(node);
+ this->stepWP->Load(node);
+ this->contactMaxCorrectingVelP->Load(node);
+ this->contactSurfaceLayerP->Load(node);
+ this->autoDisableBodyP->Load(node);
+ this->contactFeedbacksP->Load(node);
+ this->maxContactsP->Load(node);
- if (node)
- cnode = node->GetChild("ode", "physics");
-
- this->gravityP->Load(cnode);
- this->stepTimeP->Load(cnode);
- this->updateRateP->Load(cnode);
- this->globalCFMP->Load(cnode);
- this->globalERPP->Load(cnode);
- this->stepTypeP->Load(cnode);
- this->stepItersP->Load(cnode);
- this->stepWP->Load(cnode);
- this->contactMaxCorrectingVelP->Load(cnode);
- this->contactSurfaceLayerP->Load(cnode);
- this->autoDisableBodyP->Load(cnode);
- this->contactFeedbacksP->Load(cnode);
- this->maxContactsP->Load(cnode);
-
// Help prevent "popping of deeply embedded object
- dWorldSetContactMaxCorrectingVel(this->worldId,
contactMaxCorrectingVelP->GetValue());
+ dWorldSetContactMaxCorrectingVel(this->worldId, **contactMaxCorrectingVelP);
// This helps prevent jittering problems.
- dWorldSetContactSurfaceLayer(this->worldId,
contactSurfaceLayerP->GetValue());
+ dWorldSetContactSurfaceLayer(this->worldId, **contactSurfaceLayerP);
// If auto-disable is active, then user interaction with the joints
// doesn't behave properly
// disable autodisable by default
- dWorldSetAutoDisableFlag(this->worldId, this->autoDisableBodyP->GetValue());
+ dWorldSetAutoDisableFlag(this->worldId, **this->autoDisableBodyP);
dWorldSetAutoDisableTime(this->worldId, 2.0);
dWorldSetAutoDisableLinearThreshold(this->worldId, 0.001);
dWorldSetAutoDisableAngularThreshold(this->worldId, 0.001);
dWorldSetAutoDisableSteps(this->worldId, 50);
- this->contactFeedbacks.resize(this->contactFeedbacksP->GetValue());
+ this->contactFeedbacks.resize(**this->contactFeedbacksP);
// Reset the contact pointer
//this->contactFeedbackIter = this->contactFeedbacks.begin();
- Vector3 g = this->gravityP->GetValue();
+ Vector3 g = **this->gravityP;
dWorldSetGravity(this->worldId, g.x, g.y, g.z);
- dWorldSetCFM(this->worldId, this->globalCFMP->GetValue());
- dWorldSetERP(this->worldId, this->globalERPP->GetValue());
+ dWorldSetCFM(this->worldId, **this->globalCFMP);
+ dWorldSetERP(this->worldId, **this->globalERPP);
dWorldSetQuickStepNumIterations(this->worldId, **this->stepItersP );
dWorldSetQuickStepW(this->worldId, **this->stepWP );
@@ -255,7 +250,7 @@
// Save the ODE engine
void ODEPhysics::Save(std::string &prefix, std::ostream &stream)
{
- stream << prefix << "<physics:ode>\n";
+ stream << prefix << "<physics type=\"ode\">\n";
stream << prefix << " " << *(this->stepTimeP) << "\n";
stream << prefix << " " << *(this->gravityP) << "\n";
stream << prefix << " " << *(this->updateRateP) << "\n";
@@ -266,7 +261,7 @@
stream << prefix << " " << *(this->stepWP) << "\n";
stream << prefix << " " << *(this->contactMaxCorrectingVelP) << "\n";
stream << prefix << " " << *(this->contactSurfaceLayerP) << "\n";
- stream << prefix << "</physics:ode>\n";
+ stream << prefix << "</physics>\n";
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/OgreAdaptor.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/rendering/OgreAdaptor.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -84,13 +84,6 @@
}
////////////////////////////////////////////////////////////////////////////////
-// Closes and free
-void OgreAdaptor::Close()
-{
- this->Fini();
-}
-
-////////////////////////////////////////////////////////////////////////////////
/// Load the parameters for Ogre
void OgreAdaptor::Load(XMLConfigNode *rootNode)
{
@@ -120,7 +113,7 @@
this->SetupResources();
Scene *scene = new Scene("primary_scene");
- scene->Load(rootNode->GetChild("ogre", "rendering"));
+ scene->Load(rootNode->GetChild("rendering"));
scene->CreateGrid( 10, 1, 0.03, Color(1,1,1,1));
this->scenes.push_back( scene );
@@ -226,7 +219,6 @@
if (this->HasGLSL())
RTShaderSystem::Instance()->UpdateShaders();
-
}
Modified: code/gazebo/branches/dev/server/rendering/OgreAdaptor.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/OgreAdaptor.hh 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/rendering/OgreAdaptor.hh 2010-11-15
15:52:22 UTC (rev 8969)
@@ -83,9 +83,6 @@
/// \brief Destructor
private: virtual ~OgreAdaptor();
- /// \brief Closes the present simulation, frees the resources
- public: void Close();
-
/// \brief Load the parameters for Ogre
public: void Load(XMLConfigNode *rootNode);
Modified: code/gazebo/branches/dev/server/sensors/Sensor.cc
===================================================================
--- code/gazebo/branches/dev/server/sensors/Sensor.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/sensors/Sensor.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -77,7 +77,7 @@
else
this->updatePeriod = 1.0 / **(updateRateP);
- this->LoadController( node->GetChildByNSPrefix("controller") );
+ this->LoadController( node->GetChild("controller") );
this->LoadChild(node);
double updateRate = node->GetDouble("updateRate", 0, 0);
@@ -86,7 +86,6 @@
else
this->updatePeriod = 1.0 / updateRate;
this->lastUpdate = this->GetWorld()->GetSimTime();
-
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/wx/BoxMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/BoxMaker.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/wx/BoxMaker.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -1,5 +1,4 @@
#include <iostream>
-#include <FL/Fl.H>
#include "Events.hh"
#include "MouseEvent.hh"
@@ -154,6 +153,6 @@
OgreCreator::Instance()->DeleteVisual(this->visualName);
- Simulator::Instance()->GetWorld(0)->InsertEntity(newModelStr.str());
+ Simulator::Instance()->GetActiveWorld()->InsertEntity(newModelStr.str());
}
Modified: code/gazebo/branches/dev/server/wx/CylinderMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/CylinderMaker.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/wx/CylinderMaker.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -1,5 +1,4 @@
#include <iostream>
-#include <FL/Fl.H>
#include "Camera.hh"
#include "Events.hh"
@@ -158,6 +157,6 @@
newModelStr << "</gazebo:world>";
OgreCreator::Instance()->DeleteVisual(this->visualName);
- Simulator::Instance()->GetWorld(0)->InsertEntity(newModelStr.str());
+ Simulator::Instance()->GetActiveWorld()->InsertEntity(newModelStr.str());
}
Modified: code/gazebo/branches/dev/server/wx/DirectionalLightMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/DirectionalLightMaker.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/wx/DirectionalLightMaker.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -1,5 +1,4 @@
#include <iostream>
-#include <FL/Fl.H>
#include "Camera.hh"
#include "MouseEvent.hh"
@@ -96,5 +95,5 @@
newModelStr << "</gazebo:world>";
- Simulator::Instance()->GetWorld(0)->InsertEntity(newModelStr.str());
+ Simulator::Instance()->GetActiveWorld()->InsertEntity(newModelStr.str());
}
Modified: code/gazebo/branches/dev/server/wx/PhysicsPage.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/PhysicsPage.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/wx/PhysicsPage.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -16,7 +16,7 @@
{
this->SetName(wxT("physics"));
- PhysicsEngine *engine =
Simulator::Instance()->GetWorld(0)->GetPhysicsEngine();
+ PhysicsEngine *engine =
Simulator::Instance()->GetActiveWorld()->GetPhysicsEngine();
wxBoxSizer *boxSizer = new wxBoxSizer(wxVERTICAL);
Modified: code/gazebo/branches/dev/server/wx/PointLightMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/PointLightMaker.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/wx/PointLightMaker.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -1,5 +1,4 @@
#include <iostream>
-#include <FL/Fl.H>
#include "Camera.hh"
#include "MouseEvent.hh"
@@ -95,5 +94,5 @@
newModelStr << "</gazebo:world>";
- Simulator::Instance()->GetWorld(0)->InsertEntity(newModelStr.str());
+ Simulator::Instance()->GetActiveWorld()->InsertEntity(newModelStr.str());
}
Modified: code/gazebo/branches/dev/server/wx/RenderControl.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/RenderControl.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/wx/RenderControl.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -177,7 +177,7 @@
}
else if (this->GetCursorState() == "manip")
{
- Entity *entity = Simulator::Instance()->GetWorld(0)->GetSelectedEntity();
+ Entity *entity =
Simulator::Instance()->GetActiveWorld()->GetSelectedEntity();
if (entity)
{
Modified: code/gazebo/branches/dev/server/wx/SimulationApp.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/SimulationApp.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/wx/SimulationApp.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -55,15 +55,10 @@
void SimulationApp::OnIdle(wxTimerEvent &evt)
{
+ this->frame->Update();
Simulator::Instance()->GraphicsUpdate();
}
-////////////////////////////////////////////////////////////////////////////////
-/// Initalize the gui
-void SimulationApp::Update()
-{
- this->frame->Update();
-}
////////////////////////////////////////////////////////////////////////////////
/// Save the gui params in xml format
Modified: code/gazebo/branches/dev/server/wx/SimulationApp.hh
===================================================================
--- code/gazebo/branches/dev/server/wx/SimulationApp.hh 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/wx/SimulationApp.hh 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -17,9 +17,6 @@
public: bool OnInit();
- /// \brief Update the gui
- public: void Update();
-
/// \brief Run the gui
public: void Run();
Modified: code/gazebo/branches/dev/server/wx/SimulationFrame.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/SimulationFrame.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/wx/SimulationFrame.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -121,7 +121,6 @@
if (this->toolbar)
this->auiManager->AddPane(this->toolbar,
wxAuiPaneInfo().ToolbarPane().RightDockable(false).LeftDockable(false).MinSize(100,30).Top().Name(wxT("Tools")).Caption(wxT("Tools")));
- this->auiManager->Update();
Connect(wxEVT_AUI_PANE_CLOSE,
wxAuiManagerEventHandler(SimulationFrame::OnPaneClosed), NULL, this);
@@ -162,7 +161,8 @@
void SimulationFrame::Init()
{
this->renderPanel->Init();
- this->OnPause(Simulator::Instance()->GetWorld(0)->IsPaused());
+ // NATY: put back in
+ //this->OnPause(Simulator::Instance()->GetActiveWorld()->IsPaused());
EntityTreeItemData *data;
@@ -267,6 +267,7 @@
// Update the frame
void SimulationFrame::Update()
{
+ this->auiManager->Update();
this->timePanel->Update();
this->renderPanel->Update();
}
@@ -348,7 +349,7 @@
// NATY
// stop simulation when this is happening
//boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMRMutex());
- Simulator::Instance()->GetWorld(0)->Reset();
+ Simulator::Instance()->GetActiveWorld()->Reset();
}
////////////////////////////////////////////////////////////////////////////////
@@ -433,20 +434,20 @@
{
this->toolbar->ToggleTool(PAUSE, false);
this->toolbar->ToggleTool(STEP, false);
- Simulator::Instance()->GetWorld(0)->SetPaused(false);
+ Simulator::Instance()->GetActiveWorld()->SetPaused(false);
}
else if (id == PAUSE)
{
this->toolbar->ToggleTool(PLAY, false);
this->toolbar->ToggleTool(STEP, false);
- Simulator::Instance()->GetWorld(0)->SetPaused(true);
+ Simulator::Instance()->GetActiveWorld()->SetPaused(true);
}
else if (id == STEP)
{
this->toolbar->ToggleTool(PLAY, false);
this->toolbar->ToggleTool(STEP, false);
// NATY : put back in
- //Simulator::Instance()->GetWorld(0)->SetStepInc( true );
+ //Simulator::Instance()->GetActiveWorld()->SetStepInc( true );
}
else if (id == BOX)
{
@@ -508,7 +509,7 @@
Common *common = NULL;
if (data->name == "World")
- paramCount = Simulator::Instance()->GetWorld(0)->GetParamCount();
+ paramCount = Simulator::Instance()->GetActiveWorld()->GetParamCount();
else
{
common = Common::GetByName( data->name );
@@ -520,7 +521,7 @@
Param *param = NULL;
if (data->name == "World")
- param = Simulator::Instance()->GetWorld(0)->GetParam(i);
+ param = Simulator::Instance()->GetActiveWorld()->GetParam(i);
else
param = common->GetParam(i);
Modified: code/gazebo/branches/dev/server/wx/SphereMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/SphereMaker.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/wx/SphereMaker.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -1,5 +1,4 @@
#include <iostream>
-#include <FL/Fl.H>
#include "Camera.hh"
#include "Events.hh"
@@ -141,7 +140,7 @@
newModelStr << "</gazebo:world>";
- Simulator::Instance()->GetWorld(0)->InsertEntity(newModelStr.str());
+ Simulator::Instance()->GetActiveWorld()->InsertEntity(newModelStr.str());
OgreCreator::Instance()->DeleteVisual(this->visualName);
}
Modified: code/gazebo/branches/dev/server/wx/SpotLightMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/SpotLightMaker.cc 2010-11-15
03:06:34 UTC (rev 8968)
+++ code/gazebo/branches/dev/server/wx/SpotLightMaker.cc 2010-11-15
15:52:22 UTC (rev 8969)
@@ -1,5 +1,4 @@
#include <iostream>
-#include <FL/Fl.H>
#include "Camera.hh"
#include "MouseEvent.hh"
@@ -99,5 +98,5 @@
newModelStr << "</gazebo:world>";
std::cout << "Make spot light[" << newModelStr << "]\n";
- Simulator::Instance()->GetWorld(0)->InsertEntity(newModelStr.str());
+ Simulator::Instance()->GetActiveWorld()->InsertEntity(newModelStr.str());
}
Modified: code/gazebo/branches/dev/server/wx/TimePanel.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/TimePanel.cc 2010-11-15 03:06:34 UTC
(rev 8968)
+++ code/gazebo/branches/dev/server/wx/TimePanel.cc 2010-11-15 15:52:22 UTC
(rev 8969)
@@ -76,10 +76,12 @@
// Update the time panel
void TimePanel::Update()
{
- if (Simulator::Instance()->GetWorld(0)->GetRealTime() - this->lastUpdateTime
> this->statusUpdatePeriod)
+ World *world = Simulator::Instance()->GetActiveWorld();
+
+ if (world->GetRealTime() - this->lastUpdateTime > this->statusUpdatePeriod)
{
- Time simTime = Simulator::Instance()->GetWorld(0)->GetSimTime();
- Time realTime = Simulator::Instance()->GetWorld(0)->GetRealTime();
+ Time simTime = Simulator::Instance()->GetActiveWorld()->GetSimTime();
+ Time realTime = Simulator::Instance()->GetActiveWorld()->GetRealTime();
Time percent;
if (realTime < this->statusUpdatePeriod )
@@ -132,10 +134,10 @@
this->simTimeCtrl->SetValue(simSuffix);
this->realTimeCtrl->SetValue(realSuffix);
- str.Printf(wxT("%f sec"),
Simulator::Instance()->GetWorld(0)->GetPauseTime().Double());
+ str.Printf(wxT("%f sec"),
Simulator::Instance()->GetActiveWorld()->GetPauseTime().Double());
this->pauseTimeCtrl->SetValue(str);
- this->lastUpdateTime = Simulator::Instance()->GetWorld(0)->GetRealTime();
+ this->lastUpdateTime =
Simulator::Instance()->GetActiveWorld()->GetRealTime();
}
}
Modified: code/gazebo/branches/dev/worlds/empty.world
===================================================================
--- code/gazebo/branches/dev/worlds/empty.world 2010-11-15 03:06:34 UTC (rev
8968)
+++ code/gazebo/branches/dev/worlds/empty.world 2010-11-15 15:52:22 UTC (rev
8969)
@@ -1,76 +1,71 @@
<?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";
>
+<gazebo>
+ <config>
+ <verbosity>4</verbosity>
- <verbosity>4</verbosity>
+ <gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </gui>
- <physics:ode>
- <stepTime>0.001</stepTime>
- <gravity>0 0 -9.8</gravity>
- <cfm>0.0000000001</cfm>
- <erp>0.2</erp>
+ <rendering>
+ <ambient>.2 .2 .2 1</ambient>
+ <shadows>true</shadows>
+ <grid>false</grid>
+ </rendering>
- <stepType>quick</stepType>
- <stepIters>10</stepIters>
- <stepW>1.3</stepW>
- <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
- <contactSurfaceLayer>0.0</contactSurfaceLayer>
- </physics:ode>
+ </config>
- <rendering:gui>
- <type>fltk</type>
- <size>800 600</size>
- <pos>0 0</pos>
- </rendering:gui>
+ <world name="default">
- <rendering:ogre>
- <ambient>.2 .2 .2 1</ambient>
- <shadows>true</shadows>
- <grid>false</grid>
- </rendering:ogre>
+ <physics type="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>
+
+ <!-- Ground Plane -->
+ <model type="physical" name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body name="plane1_body">
+ <geom type="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>
+ </body>
+ </model>
+
+ <!-- White Point light -->
+ <model type="renderable" name="point_white">
+ <xyz>0.0 0 10</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+ <light>
+ <type>point</type>
+ <diffuseColor>0.6 0.6 0.6 1.0</diffuseColor>
+ <specularColor>.1 .1 .1 1.0</specularColor>
+ <attenuation>.2 0.1 0.0</attenuation>
+ <range>20</range>
+ <direction>0 0 -1.0</direction>
+ <castShadows>true</castShadows>
+ </light>
+ </model>
+ </world>
- <!-- 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>
-
- <!-- White Point light -->
- <model:renderable name="point_white">
- <xyz>0.0 0 10</xyz>
- <rpy>0 0 0</rpy>
- <static>true</static>
- <light>
- <type>point</type>
- <diffuseColor>0.6 0.6 0.6 1.0</diffuseColor>
- <specularColor>.1 .1 .1 1.0</specularColor>
- <attenuation>.2 0.1 0.0</attenuation>
- <range>20</range>
- <direction>0 0 -1.0</direction>
- <castShadows>true</castShadows>
- </light>
- </model:renderable>
-
-</gazebo:world>
+</gazebo>
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