Revision: 8988
http://playerstage.svn.sourceforge.net/playerstage/?rev=8988&view=rev
Author: natepak
Date: 2010-11-30 02:29:38 +0000 (Tue, 30 Nov 2010)
Log Message:
-----------
Updates
Modified Paths:
--------------
code/gazebo/branches/dev/server/Messages.hh
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/Joint.cc
code/gazebo/branches/dev/server/physics/Joint.hh
Modified: code/gazebo/branches/dev/server/Messages.hh
===================================================================
--- code/gazebo/branches/dev/server/Messages.hh 2010-11-29 23:05:26 UTC (rev
8987)
+++ code/gazebo/branches/dev/server/Messages.hh 2010-11-30 02:29:38 UTC (rev
8988)
@@ -29,8 +29,10 @@
public: std::string xmlStr;
};
- class InsertVisualMsg : public Message
+ class VisualMsg : public Message
{
+ public: enum ActionType {UPDATE, DELETE};
+
public: InsertVisualMsg() : Message(INSERT_VISUAL) {}
public: InsertVisualMsg(const InsertVisualMsg &m) : Message(m),
xmlStr(m.xmlStr) {}
@@ -39,11 +41,14 @@
public: std::string parentId;
public: std::string id;
+ public: VisualMsgActionType action;
public: std::string mesh;
public: std::string material;
public: bool castShadows;
public: bool attachAxes;
public: bool visible;
+ public: Vector3 boundingbox_min;
+ public: Vector3 boundingbox_max;
};
class UpdatePoseMsg : public Message
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.cc 2010-11-29 23:05:26 UTC
(rev 8987)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2010-11-30 02:29:38 UTC
(rev 8988)
@@ -379,7 +379,7 @@
this->cgVisualId = visname.str();
- InsertVisualMsg msg;
+ VisualMsg msg;
msg.parentId = this->comEntity->GetName();
msg.id = this->cgVisualId;
msg.type = MESH_RESOURCE;
Modified: code/gazebo/branches/dev/server/physics/Geom.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.cc 2010-11-29 23:05:26 UTC
(rev 8987)
+++ code/gazebo/branches/dev/server/physics/Geom.cc 2010-11-30 02:29:38 UTC
(rev 8988)
@@ -91,18 +91,18 @@
// Destructor
Geom::~Geom()
{
- for (std::vector<Visual*>::iterator iter = this->visuals.begin();
- iter != this->visuals.end(); iter++)
- if (*iter)
- delete *iter;
- this->visuals.clear();
-
- if (this->bbVisual)
+ for (unsigned int i=0; i < this->visualMsgs.size(); i++)
{
- delete this->bbVisual;
- this->bbVisual = NULL;
+ this->visualMsgs[i]->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage( *this->visualMsgs[i] );
+ delete this->visualMsgs[i];
}
+ this->visualMsgs.clear();
+ this->bbVisualMsg->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage( *this->bbVisual );
+ delete this->bbVisualMsg;
+
delete this->typeP;
delete this->massP;
delete this->xyzP;
@@ -114,7 +114,6 @@
if (this->shape)
delete this->shape;
this->shape = NULL;
-
}
////////////////////////////////////////////////////////////////////////////////
@@ -166,18 +165,20 @@
{
std::ostringstream visname;
visname << this->GetCompleteScopedName() << "_VISUAL_" <<
- this->visuals.size();
+ this->visualMsgs.size();
- InsertVisualMsg msg;
- msg.parentId = this->GetName();
- msg.id = visname.str();
- msg.Load(childNode);
- msg.castShadows = false;
- Simulator::Instance()->SendMessage( msg );
+ VisualMsg *msg = new VisualMsg();
- this->visualNames.push_back(visname.str());
+ msg->parentId = this->GetName();
+ msg->id = visname.str();
+ msg->type = VisualMsg::MESH_RESOURCE;
+ msg->Load(childNode);
+ msg->castShadows = false;
+ Simulator::Instance()->SendMessage( *msg );
+ this->visualMsgs.push_back(msg);
+
// NATY: get rid of this
//visual->SetOwner(this);
//visual->SetCastShadows(true);
@@ -203,11 +204,17 @@
std::ostringstream visname;
visname << this->GetCompleteScopedName() << "_BBVISUAL" ;
- this->bbVisual = new Visual(visname.str(), this->visualNode);
- this->bbVisual->SetCastShadows(false);
- this->bbVisual->AttachBoundingBox(min,max);
- this->bbVisual->SetVisible( RenderState::GetShowBoundingBoxes() );
- this->bbVisual->SetOwner(this);
+ this->bbVisualMsg = new VisualMsg();
+
+ this->bbVisualMsg->type = VisualMsg::MESH_RESOURCE;
+ this->bbVisualMsg->parentId = this->GetName();
+ this->bbVisualMsg->id = this->GetName() + "_BBVISUAL";
+ this->bbVisualMsg->castShadows = false;
+ this->bbVisualMsg->visible = RenderState::GetShowBoundingBoxes();
+ this->bbVisualMsg->boundingbox_min = min;
+ this->bbVisualMsg->boundingbox_max = max;
+
+ Simulator::Instance()->SendMessage( *this->bbVisualMsg );
}
}
@@ -309,33 +316,38 @@
// Toggle bounding box visibility
void Geom::ToggleShowBoundingBox()
{
- if (this->bbVisual)
- this->bbVisual->ToggleVisible();
+ if (this->bbVisualMsg)
+ {
+ this->bbVisualMsg->visible = !this->bbVisualMsg->visual;
+ this->bbVisualMsg->action = UPDATE;
+ Simulator::Instance()->SendMessage( *this->bbVisualMsg );
+ }
}
////////////////////////////////////////////////////////////////////////////////
/// Set the visibility of the Bounding box of this geometry
void Geom::ShowBoundingBox(bool show)
{
- if (this->bbVisual)
- this->bbVisual->SetVisible(show);
+ if (this->bbVisualMsg)
+ {
+ this->bbVisualMsg->visible = show;
+ this->bbVisualMsg->action = UPDATE;
+ Simulator::Instance()->SendMessage( *this->bbVisualMsg );
+ }
}
////////////////////////////////////////////////////////////////////////////////
// Toggle transparency
void Geom::ToggleTransparent()
{
- std::vector<Visual*>::iterator iter;
-
- for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
+ for (unsigned int i = 0; i < this->visualMsgs.size(); i++)
{
- if (*iter)
- {
- if ((*iter)->GetTransparency() == 0.0)
- (*iter)->SetTransparency(0.6);
- else
- (*iter)->SetTransparency(0.0);
- }
+ this->visualMsgs[i].action = UPDATE;
+ if (this->visualMsgs[i].transparency == 0.0)
+ this->visualMsgs[i].transparency = 0.6;
+ else
+ this->visualMsgs[i].transparency = 0.0;
+ Simulator::Instance()->SetMessage( *this->visualMsgs[i] );
}
}
@@ -343,29 +355,14 @@
/// Set the transparency
void Geom::SetTransparent(bool show)
{
- std::vector<Visual*>::iterator iter;
-
- if (show)
+for (unsigned int i = 0; i < this->visualMsgs.size(); i++)
{
- for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
- {
- if (*iter)
- {
- (*iter)->SetVisible(true, false);
- (*iter)->SetTransparency(0.6);
- }
- }
- }
- else
- {
- for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
- {
- if (*iter)
- {
- (*iter)->SetVisible(true, true);
- (*iter)->SetTransparency(0.0);
- }
- }
+ this->visualMsgs[i].action = UPDATE;
+ if (show)
+ this->visualMsgs[i].transparency = 0.6;
+ else
+ this->visualMsgs[i].transparency = 0.0;
+ Simulator::Instance()->SetMessage( *this->visualMsgs[i] );
}
}
@@ -386,38 +383,6 @@
}
////////////////////////////////////////////////////////////////////////////////
-/// Get the number of visuals
-unsigned int Geom::GetVisualCount() const
-{
- return this->visuals.size();
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Get a visual
-Visual *Geom::GetVisual(unsigned int index) const
-{
- if (index < this->visuals.size())
- return this->visuals[index];
- else
- return NULL;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Get a visual
-Visual *Geom::GetVisualById(int id) const
-{
- std::vector<Visual*>::const_iterator iter;
-
- for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
- {
- if ( (*iter) && (*iter)->GetId() == id)
- return *iter;
- }
-
- return NULL;
-}
-
-////////////////////////////////////////////////////////////////////////////////
/// Get the body this geom belongs to
Body *Geom::GetBody() const
{
@@ -513,9 +478,11 @@
if (this->bbVisual)
{
if (enabled)
- this->bbVisual->SetBoundingBoxMaterial("Gazebo/GreenTransparent");
+ this->bbVisualMsg->material = "Gazebo/GreenTransparent";
else
- this->bbVisual->SetBoundingBoxMaterial("Gazebo/RedTransparent");
+ this->bbVisualMsg->material = "Gazebo/RedTransparent";
+
+ Simulator::Instance()->SendMessage( *this->bbVisualMsg );
}
}
Modified: code/gazebo/branches/dev/server/physics/Geom.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.hh 2010-11-29 23:05:26 UTC
(rev 8987)
+++ code/gazebo/branches/dev/server/physics/Geom.hh 2010-11-30 02:29:38 UTC
(rev 8988)
@@ -44,7 +44,6 @@
class Body;
class SurfaceParams;
class XMLConfigNode;
- class Visual;
/// \addtogroup gazebo_physics
/// \brief Base class for all geoms
@@ -119,15 +118,6 @@
/// \brief Set the mass
public: void SetMass(const Mass &mass);
- /// \brief Get the number of visuals
- public: unsigned int GetVisualCount() const;
-
- /// \brief Get a visual
- public: Visual *GetVisual(unsigned int index) const;
-
- /// \brief Get a visual by id
- public: Visual *GetVisualById( int id ) const;
-
/// \brief Get the body this geom belongs to
public: Body *GetBody() const;
@@ -234,7 +224,8 @@
private: float transparency;
/// All the visual apparence
- private: std::vector<std::string> visualNames;
+ private: std::vector<VisualMsg> visualMsgs;
+ private: VisualMsg *bbVisualMsg;
protected: Shape *shape;
Modified: code/gazebo/branches/dev/server/physics/Joint.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Joint.cc 2010-11-29 23:05:26 UTC
(rev 8987)
+++ code/gazebo/branches/dev/server/physics/Joint.cc 2010-11-30 02:29:38 UTC
(rev 8988)
@@ -27,8 +27,6 @@
#include "RenderTypes.hh"
#include "Events.hh"
#include "PhysicsEngine.hh"
-#include "Visual.hh"
-#include "OgreDynamicLines.hh"
#include "GazeboError.hh"
#include "GazeboMessage.hh"
#include "Global.hh"
@@ -140,12 +138,15 @@
this->Attach(this->body1, this->body2);
/// Add a renderable for the joint
- this->visual = new Visual(visname.str(), this);
- this->visual->SetPosition(this->anchorPos);
- this->visual->SetCastShadows(false);
- this->visual->AttachMesh("joint_anchor");
- this->visual->SetMaterial("Gazebo/JointAnchor");
- this->visual->SetVisible(false);
+ this->visualMsg = new VisualMsg();
+ this->visualMsg->parentId = this->GetName();
+ this->visualMsg->id = visname.str();
+ this->visualMsg->type = VisualMsg::MESH_RESOURCE;
+ this->visualMsg->pose.pos = this->achorPos;
+ this->visualMsg->castShadows = false;
+ this->visualMsg->mesh = "joint_anchor";
+ this->visualMsg->material = "Gazebo/JointAnchor";
+ this->visualMsg->visible = false;
this->line1 = this->visual->AddDynamicLine(RENDERING_LINE_LIST);
this->line2 = this->visual->AddDynamicLine(RENDERING_LINE_LIST);
Modified: code/gazebo/branches/dev/server/physics/Joint.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Joint.hh 2010-11-29 23:05:26 UTC
(rev 8987)
+++ code/gazebo/branches/dev/server/physics/Joint.hh 2010-11-30 02:29:38 UTC
(rev 8988)
@@ -43,7 +43,6 @@
class XMLConfigNode;
class Model;
class OgreDynamicLines;
- class Visual;
/// \brief Base class for all joints
class Joint : public Common
@@ -182,7 +181,7 @@
protected: ParamT<bool> *provideFeedbackP;
protected: ParamT<double> *fudgeFactorP;
- protected: Visual *visual;
+ protected: VisualMsg *visualMsg;
protected: Model *model;
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