Revision: 8992
http://playerstage.svn.sourceforge.net/playerstage/?rev=8992&view=rev
Author: natepak
Date: 2010-12-02 02:00:14 +0000 (Thu, 02 Dec 2010)
Log Message:
-----------
Updates
Modified Paths:
--------------
code/gazebo/branches/dev/server/Messages.hh
code/gazebo/branches/dev/server/physics/Joint.cc
code/gazebo/branches/dev/server/physics/Joint.hh
code/gazebo/branches/dev/server/physics/PhysicsEngine.cc
code/gazebo/branches/dev/server/physics/PhysicsEngine.hh
Modified: code/gazebo/branches/dev/server/Messages.hh
===================================================================
--- code/gazebo/branches/dev/server/Messages.hh 2010-12-01 21:25:14 UTC (rev
8991)
+++ code/gazebo/branches/dev/server/Messages.hh 2010-12-02 02:00:14 UTC (rev
8992)
@@ -55,6 +55,7 @@
public: Vector3 boundingbox_min;
public: Vector3 boundingbox_max;
public: std::vector<Vector3> points;
+ public: Pose3d pose;
};
class UpdatePoseMsg : public Message
Modified: code/gazebo/branches/dev/server/physics/Joint.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Joint.cc 2010-12-01 21:25:14 UTC
(rev 8991)
+++ code/gazebo/branches/dev/server/physics/Joint.cc 2010-12-02 02:00:14 UTC
(rev 8992)
@@ -24,6 +24,7 @@
* CVS: $Id$
*/
+#include "Simulator.hh"
#include "RenderTypes.hh"
#include "Events.hh"
#include "PhysicsEngine.hh"
@@ -161,8 +162,8 @@
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->render = VisualMsg::MESH_RESOURCE;
+ this->visualMsg->pose.pos = this->anchorPos;
this->visualMsg->castShadows = false;
this->visualMsg->mesh = "joint_anchor";
this->visualMsg->material = "Gazebo/JointAnchor";
@@ -171,7 +172,7 @@
this->line1Msg = new VisualMsg();
this->line1Msg->parentId = this->visualMsg->id;
this->line1Msg->id = "line1";
- this->line1Msg->type = VisualMsg::LINE_LIST;
+ this->line1Msg->render = VisualMsg::LINE_LIST;
this->line1Msg->material = "Gazebo/BlueGlow";
this->line1Msg->points.push_back(Vector3(0,0,0));
this->line1Msg->points.push_back(Vector3(0,0,0));
@@ -179,7 +180,7 @@
this->line2Msg = new VisualMsg();
this->line2Msg->parentId = this->visualMsg->id;
this->line2Msg->id = "line2";
- this->line2Msg->type = VisualMsg::LINE_LIST;
+ this->line2Msg->render = VisualMsg::LINE_LIST;
this->line2Msg->material = "Gazebo/BlueGlow";
this->line2Msg->points.push_back(Vector3(0,0,0));
this->line2Msg->points.push_back(Vector3(0,0,0));
@@ -234,7 +235,7 @@
this->line1Msg->points[1] = this->body1->GetWorldPose().pos -
this->anchorPos;
if (this->body2)
- this->line2Msg->poinst[1] = this->body2->GetWorldPose().pos -
this->anchorPos;
+ this->line2Msg->points[1] = this->body2->GetWorldPose().pos -
this->anchorPos;
Simulator::Instance()->SendMessage( *this->visualMsg );
Simulator::Instance()->SendMessage( *this->line1Msg );
@@ -257,7 +258,7 @@
// Set the joint to show visuals
void Joint::ShowJoints(bool s)
{
- if (this->visual)
+ if (this->visualMsg)
{
this->visualMsg->visible = s;
Simulator::Instance()->SendMessage( *this->visualMsg );
Modified: code/gazebo/branches/dev/server/physics/Joint.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Joint.hh 2010-12-01 21:25:14 UTC
(rev 8991)
+++ code/gazebo/branches/dev/server/physics/Joint.hh 2010-12-02 02:00:14 UTC
(rev 8992)
@@ -42,7 +42,6 @@
class Body;
class XMLConfigNode;
class Model;
- class OgreDynamicLines;
class VisualMsg;
/// \brief Base class for all joints
@@ -183,11 +182,11 @@
protected: ParamT<double> *fudgeFactorP;
protected: VisualMsg *visualMsg;
+ protected: VisualMsg *line1Msg;
+ protected: VisualMsg *line2Msg;
protected: Model *model;
- protected: OgreDynamicLines *line1;
- protected: OgreDynamicLines *line2;
protected: Vector3 anchorPos;
protected: Body *anchorBody;
Modified: code/gazebo/branches/dev/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/PhysicsEngine.cc 2010-12-01
21:25:14 UTC (rev 8991)
+++ code/gazebo/branches/dev/server/physics/PhysicsEngine.cc 2010-12-02
02:00:14 UTC (rev 8992)
@@ -250,7 +250,7 @@
// Set whether to show contacts
void PhysicsEngine::ShowVisual(bool show)
{
- this->visualMsg->visual = show;
+ this->visualMsg->visible = show;
Simulator::Instance()->SendMessage(*this->visualMsg);
/* NATY put back in
Modified: code/gazebo/branches/dev/server/physics/PhysicsEngine.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/PhysicsEngine.hh 2010-12-01
21:25:14 UTC (rev 8991)
+++ code/gazebo/branches/dev/server/physics/PhysicsEngine.hh 2010-12-02
02:00:14 UTC (rev 8992)
@@ -239,8 +239,8 @@
protected: VisualMsg *visualMsg;
- private: std::vector<OgreDynamicLines*> contactLines;
- private: std::vector<OgreDynamicLines*>::iterator contactLinesIter;
+ //private: std::vector<OgreDynamicLines*> contactLines;
+ //private: std::vector<OgreDynamicLines*>::iterator contactLinesIter;
};
/** \}*/
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