Revision: 9016
http://playerstage.svn.sourceforge.net/playerstage/?rev=9016&view=rev
Author: natepak
Date: 2011-01-10 23:52:19 +0000 (Mon, 10 Jan 2011)
Log Message:
-----------
Fixed setting the pose of bodies and geoms
Modified Paths:
--------------
code/gazebo/branches/dev/server/Common.cc
code/gazebo/branches/dev/server/Common.hh
code/gazebo/branches/dev/server/Entity.cc
code/gazebo/branches/dev/server/Entity.hh
code/gazebo/branches/dev/server/Messages.cc
code/gazebo/branches/dev/server/Messages.hh
code/gazebo/branches/dev/server/Model.cc
code/gazebo/branches/dev/server/World.cc
code/gazebo/branches/dev/server/physics/Body.cc
code/gazebo/branches/dev/server/physics/Body.hh
code/gazebo/branches/dev/server/physics/Geom.cc
code/gazebo/branches/dev/server/physics/PlaneShape.cc
code/gazebo/branches/dev/server/physics/ode/ODEBody.cc
code/gazebo/branches/dev/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/dev/server/rendering/Grid.cc
code/gazebo/branches/dev/server/rendering/Scene.cc
code/gazebo/branches/dev/server/rendering/Scene.hh
code/gazebo/branches/dev/server/rendering/Visual.cc
Modified: code/gazebo/branches/dev/server/Common.cc
===================================================================
--- code/gazebo/branches/dev/server/Common.cc 2010-12-30 02:05:37 UTC (rev
9015)
+++ code/gazebo/branches/dev/server/Common.cc 2011-01-10 23:52:19 UTC (rev
9016)
@@ -88,6 +88,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Load
+void Common::Load(XMLConfigNode *node)
+{
+ this->nameP->Load(node);
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Set the name of the entity
void Common::SetName(const std::string &name)
{
Modified: code/gazebo/branches/dev/server/Common.hh
===================================================================
--- code/gazebo/branches/dev/server/Common.hh 2010-12-30 02:05:37 UTC (rev
9015)
+++ code/gazebo/branches/dev/server/Common.hh 2011-01-10 23:52:19 UTC (rev
9016)
@@ -47,6 +47,9 @@
/// \brief Destructor
public: virtual ~Common();
+ /// \brief Load
+ public: virtual void Load(XMLConfigNode *node);
+
/// \brief Set the name of the entity
/// \param name Body name
public: virtual void SetName(const std::string &name);
Modified: code/gazebo/branches/dev/server/Entity.cc
===================================================================
--- code/gazebo/branches/dev/server/Entity.cc 2010-12-30 02:05:37 UTC (rev
9015)
+++ code/gazebo/branches/dev/server/Entity.cc 2011-01-10 23:52:19 UTC (rev
9016)
@@ -50,36 +50,42 @@
this->staticP->Callback( &Entity::SetStatic, this );
Param::End();
- std::ostringstream visname;
- visname << "Entity_" << this->GetId() << "_VISUAL";
-
this->visualMsg = new VisualMsg();
- this->visualMsg->id = visname.str();
+ //this->visualMsg->id = this->GetName();
if (this->parent && this->parent->HasType(ENTITY))
{
Entity *ep = (Entity*)(this->parent);
- this->visualMsg->parentId = ep->GetName();
this->SetStatic(ep->IsStatic());
}
- else
+ /*else
{
this->visualMsg = new VisualMsg();
}
Simulator::Instance()->SendMessage( *this->visualMsg );
+ */
// NATY: put functionality back in
//this->visualNode->SetOwner(this);
}
+////////////////////////////////////////////////////////////////////////////////
+/// Load
+void Entity::Load(XMLConfigNode *node)
+{
+ Common::Load(node);
+ this->RegisterVisual();
+}
+
+
void Entity::SetName(const std::string &name)
{
+ // TODO: if an entitie's name is changed, then the old visual is never
+ // removed. Should add in functionality to modify/update the visual
Common::SetName(name);
- std::ostringstream visname;
- visname << name << "_VISUAL";
- this->visualMsg->id = visname.str();
- Simulator::Instance()->SendMessage( *this->visualMsg );
+ //this->visualMsg->id = this->GetCompleteScopedName();
+ //Simulator::Instance()->SendMessage( *this->visualMsg );
}
////////////////////////////////////////////////////////////////////////////////
@@ -289,8 +295,9 @@
void Entity::PoseChange(bool notify)
{
PoseMsg msg;
- msg->id = this->name;
- msg->pose = this->GetRelativePose();
+ msg.id = this->GetCompleteScopedName();
+ //std::cout << "Pose[" << msg.id << "]\n";
+ msg.pose = this->GetRelativePose();
Simulator::Instance()->SendMessage( msg );
if (notify)
@@ -305,3 +312,13 @@
}
}
}
+
+////////////////////////////////////////////////////////////////////////////////
+// Register a visual
+void Entity::RegisterVisual()
+{
+ this->visualMsg->id = this->GetCompleteScopedName();
+ if (this->parent)
+ this->visualMsg->parentId = this->parent->GetCompleteScopedName();
+ Simulator::Instance()->SendMessage( *this->visualMsg );
+}
Modified: code/gazebo/branches/dev/server/Entity.hh
===================================================================
--- code/gazebo/branches/dev/server/Entity.hh 2010-12-30 02:05:37 UTC (rev
9015)
+++ code/gazebo/branches/dev/server/Entity.hh 2011-01-10 23:52:19 UTC (rev
9016)
@@ -55,6 +55,9 @@
/// \brief Destructor
public: virtual ~Entity();
+
+ /// \brief Load
+ public: virtual void Load(XMLConfigNode *node);
public: void SetName(const std::string &name);
@@ -126,6 +129,8 @@
public: virtual Vector3 GetWorldAngularAccel() const
{return Vector3();}
+ /// Register a visual
+ public: void RegisterVisual();
/// \brief This function is called when the entity's (or one of its
parents)
/// pose of the parent has changed
Modified: code/gazebo/branches/dev/server/Messages.cc
===================================================================
--- code/gazebo/branches/dev/server/Messages.cc 2010-12-30 02:05:37 UTC (rev
9015)
+++ code/gazebo/branches/dev/server/Messages.cc 2011-01-10 23:52:19 UTC (rev
9016)
@@ -3,6 +3,15 @@
using namespace gazebo;
+VisualMsg::VisualMsg() : Message(VISUAL_MSG)
+{
+ this->castShadows = true;
+ this->attachAxes = true;
+ this->visible = true;
+ this->transparency = 0.0;
+ this->size.Set(1,1,1);
+}
+
VisualMsg::VisualMsg(const VisualMsg &m)
: Message(m)
{
@@ -22,6 +31,7 @@
this->plane = m.plane;
this->uvTile_x = m.uvTile_x;
this->uvTile_y = m.uvTile_y;
+ this->size = m.size;
}
void VisualMsg::Load(XMLConfigNode *node)
@@ -31,6 +41,5 @@
this->castShadows = node->GetBool("castShadows",true,0);
this->visible = node->GetBool("visible",true,0);
this->transparency = node->GetDouble("transparency",0.0,0);
-
- std::cout << "Loading a Visual Message\n\n";
+ this->size = node->GetVector3("size", Vector3(1,1,1));
}
Modified: code/gazebo/branches/dev/server/Messages.hh
===================================================================
--- code/gazebo/branches/dev/server/Messages.hh 2010-12-30 02:05:37 UTC (rev
9015)
+++ code/gazebo/branches/dev/server/Messages.hh 2011-01-10 23:52:19 UTC (rev
9016)
@@ -42,7 +42,7 @@
public: enum ActionType {UPDATE, DELETE};
public: enum RenderType {MESH_RESOURCE, POINTS, LINE_LIST, LINE_STRIP,
TRIANGLE_FAN};
- public: VisualMsg() : Message(VISUAL_MSG) {}
+ public: VisualMsg();
public: VisualMsg(const VisualMsg &m);
public: virtual Message *Clone() const
{ VisualMsg *msg = new VisualMsg(*this); return msg; }
@@ -63,6 +63,7 @@
public: std::vector<Vector3> points;
public: Pose3d pose;
public: Plane plane;
+ public: Vector3 size;
public: float uvTile_x;
public: float uvTile_y;
};
@@ -70,13 +71,12 @@
class PoseMsg : public Message
{
public: PoseMsg() : Message(POSE_MSG) {}
- public: PoseMsg(const PoseMsg &m) : Message(m),
- id(m.id), pose(m.pose) {}
+ public: PoseMsg(const PoseMsg &m) : Message(m), pose(m.pose), id(m.id) {}
public: virtual Message *Clone() const
- { UpdatePoseMsg *msg = new UpdatePoseMsg(*this); return msg; }
+ { PoseMsg *msg = new PoseMsg(*this); return msg; }
+ public: Pose3d pose;
public: std::string id;
- public: Pose3d pose;
};
}
Modified: code/gazebo/branches/dev/server/Model.cc
===================================================================
--- code/gazebo/branches/dev/server/Model.cc 2010-12-30 02:05:37 UTC (rev
9015)
+++ code/gazebo/branches/dev/server/Model.cc 2011-01-10 23:52:19 UTC (rev
9016)
@@ -64,12 +64,6 @@
for (size_t i=r.begin(); i != r.end(); i++)
{
(*this->bodies)[i]->Update();
- /*Common *common = (*this->children)[i];
- if ( common->HasType(BODY) )
- {
- ((Body*)common)->Update();
- }
- */
}
}
@@ -184,12 +178,14 @@
// Load the model
void Model::Load(XMLConfigNode *node, bool removeDuplicate)
{
+ Entity::Load(node);
+
XMLConfigNode *childNode;
std::string scopedName;
Pose3d pose;
Common* dup;
- this->nameP->Load(node);
+ this->staticP->Load(node);
scopedName = this->GetScopedName();
@@ -210,8 +206,6 @@
}
}
- this->staticP->Load(node);
-
this->canonicalBodyNameP->Load(node);
this->xyzP->Load(node);
this->rpyP->Load(node);
@@ -1182,6 +1176,8 @@
{
XMLConfigNode *childNode = NULL;
+ std::cout << "LoadPhysical[" << this->GetName() << "]\n";
+
// Load the bodies
if (node->GetChildByNSPrefix("body"))
childNode = node->GetChildByNSPrefix("body");
Modified: code/gazebo/branches/dev/server/World.cc
===================================================================
--- code/gazebo/branches/dev/server/World.cc 2010-12-30 02:05:37 UTC (rev
9015)
+++ code/gazebo/branches/dev/server/World.cc 2011-01-10 23:52:19 UTC (rev
9016)
@@ -88,6 +88,7 @@
this->stepInc = false;
this->rootElement = new Common(NULL);
+ this->rootElement->SetName("root");
this->rootElement->SetWorld(this);
this->factoryIfaceHandler = NULL;
@@ -670,8 +671,9 @@
/// Receive a message
void World::ReceiveMessage( const Message &msg )
{
+ //std::cout << "Received message\n";
boost::mutex::scoped_lock lock( this->mutex );
- if (msg.type == VISUAL_MSG)
+ if (msg.type == VISUAL_MSG || msg.type == POSE_MSG)
this->scene->ReceiveMessage(msg);
else
this->messages.push_back( msg.Clone() );
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.cc 2010-12-30 02:05:37 UTC
(rev 9015)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2011-01-10 23:52:19 UTC
(rev 9016)
@@ -157,6 +157,9 @@
// Load the body based on an XMLConfig node
void Body::Load(XMLConfigNode *node)
{
+ Entity::Load(node);
+ this->comEntity->RegisterVisual();
+
// before loading child geometry, we have to figure out of selfCollide is
true
// and modify parent class Entity so this body has its own spaceId
this->selfCollideP->Load(node);
@@ -185,7 +188,6 @@
XMLConfigNode *childNode;
- this->nameP->Load(node);
this->xyzP->Load(node);
this->rpyP->Load(node);
this->dampingFactorP->Load(node);
@@ -355,8 +357,6 @@
// Initialize the body
void Body::Init()
{
- this->poseDirty = false;
-
// If no geoms are attached, then don't let gravity affect the body.
if (this->geoms.size()==0 || **this->turnGravityOffP)
this->SetGravityMode(false);
@@ -375,15 +375,16 @@
this->linearAccel.Set(0,0,0);
this->angularAccel.Set(0,0,0);
+ // NATY: put back in
/// Attach mesh for CG visualization
/// Add a renderable visual for CG, make visible in Update()
- if (this->mass.GetAsDouble() > 0.0)
+ /*if (this->mass.GetAsDouble() > 0.0)
{
std::ostringstream visname;
visname << this->GetCompleteScopedName() + ":" + this->GetName() <<
"_CGVISUAL" ;
this->cgVisualMsg = new VisualMsg();
- this->cgVisualMsg->parentId = this->comEntity->GetName();
+ this->cgVisualMsg->parentId = this->comEntity->GetId();
this->cgVisualMsg->id = visname.str();
this->cgVisualMsg->render = VisualMsg::MESH_RESOURCE;
this->cgVisualMsg->mesh = "body_cg";
@@ -411,7 +412,7 @@
Simulator::Instance()->SendMessage(msg);
}
- }
+ }*/
this->enabled = true;
}
@@ -420,12 +421,6 @@
// Update the body
void Body::Update()
{
- if (this->poseDirty)
- {
- this->poseDirty = false;
- this->SetWorldPose(this->newPose, false);
- }
-
// Apply our linear accel
this->SetForce(this->linearAccel);
Modified: code/gazebo/branches/dev/server/physics/Body.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.hh 2010-12-30 02:05:37 UTC
(rev 9015)
+++ code/gazebo/branches/dev/server/physics/Body.hh 2011-01-10 23:52:19 UTC
(rev 9016)
@@ -296,7 +296,6 @@
private: bool enabled;
protected: Pose3d newPose;
- protected: bool poseDirty;
};
/// \}
Modified: code/gazebo/branches/dev/server/physics/Geom.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.cc 2010-12-30 02:05:37 UTC
(rev 9015)
+++ code/gazebo/branches/dev/server/physics/Geom.cc 2011-01-10 23:52:19 UTC
(rev 9016)
@@ -138,10 +138,11 @@
// First step in the loading process
void Geom::Load(XMLConfigNode *node)
{
+ Entity::Load(node);
+
XMLConfigNode *childNode = NULL;
this->typeP->Load(node);
- this->nameP->Load(node);
this->SetName(this->nameP->GetValue());
this->massP->Load(node);
this->xyzP->Load(node);
@@ -168,19 +169,18 @@
while (childNode)
{
std::ostringstream visname;
- visname << this->GetCompleteScopedName() << "_VISUAL_" <<
+ visname << this->GetCompleteScopedName() << "::VISUAL_" <<
this->visualMsgs.size();
VisualMsg *msg = new VisualMsg();
- msg->parentId = this->GetName();
+ msg->parentId = this->GetCompleteScopedName();
msg->id = visname.str();
msg->render = VisualMsg::MESH_RESOURCE;
msg->Load(childNode);
msg->castShadows = false;
- msg->pose = this->GetWorldPose();
- std::cout << "Geom[" << this->GetName() << "] Create a Visual Message with
Pose[" << msg->pose << "]\n";
+ msg->pose = this->GetRelativePose();
Simulator::Instance()->SendMessage( *msg );
@@ -203,13 +203,13 @@
this->GetBoundingBox(min,max);
std::ostringstream visname;
- visname << this->GetCompleteScopedName() << "_BBVISUAL" ;
+ visname << this->GetCompleteScopedName() << "::BBVISUAL" ;
this->bbVisualMsg = new VisualMsg();
this->bbVisualMsg->render = VisualMsg::MESH_RESOURCE;
- this->bbVisualMsg->parentId = this->GetName();
- this->bbVisualMsg->id = this->GetName() + "_BBVISUAL";
+ this->bbVisualMsg->parentId = this->GetCompleteScopedName();
+ this->bbVisualMsg->id = this->GetCompleteScopedName() + "_BBVISUAL";
this->bbVisualMsg->castShadows = false;
this->bbVisualMsg->visible = RenderState::GetShowBoundingBoxes();
this->bbVisualMsg->boundingbox.min = min;
Modified: code/gazebo/branches/dev/server/physics/PlaneShape.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/PlaneShape.cc 2010-12-30
02:05:37 UTC (rev 9015)
+++ code/gazebo/branches/dev/server/physics/PlaneShape.cc 2011-01-10
23:52:19 UTC (rev 9016)
@@ -116,6 +116,9 @@
this->visualMsg->uvTile_y = (**(this->uvTileP)).y;
this->visualMsg->material = **(this->materialP);
this->visualMsg->castShadows = **(this->castShadowsP);
+ this->visualMsg->size.x = (**(this->sizeP)).x;
+ this->visualMsg->size.y = (**(this->sizeP)).y;
+ this->visualMsg->size.z = 0.0;
Simulator::Instance()->SendMessage( *this->visualMsg );
}
Modified: code/gazebo/branches/dev/server/physics/ode/ODEBody.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/ode/ODEBody.cc 2010-12-30
02:05:37 UTC (rev 9015)
+++ code/gazebo/branches/dev/server/physics/ode/ODEBody.cc 2011-01-10
23:52:19 UTC (rev 9016)
@@ -111,11 +111,9 @@
pose.pos.Set(p[0], p[1], p[2]);
pose.rot.Set(r[0], r[1], r[2], r[3] );
- self->newPose = self->comEntity->GetRelativePose().GetInverse() + pose;
- self->newPose.Correct();
- self->poseDirty = true;
-
- //self->SetWorldPose(pp, false);
+ pose = self->comEntity->GetRelativePose().GetInverse() + pose;
+ pose.Correct();
+ self->SetWorldPose(pose);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/ode/ODEPhysics.cc 2010-12-30
02:05:37 UTC (rev 9015)
+++ code/gazebo/branches/dev/server/physics/ode/ODEPhysics.cc 2011-01-10
23:52:19 UTC (rev 9016)
@@ -148,14 +148,6 @@
this->contactGroup = dJointGroupCreate(0);
- // If auto-disable is active, then user interaction with the joints
- // doesn't behave properly
- dWorldSetAutoDisableFlag(this->worldId, 0);
- dWorldSetAutoDisableTime(this->worldId, 2.0);
- dWorldSetAutoDisableLinearThreshold(this->worldId, 0.001);
- dWorldSetAutoDisableAngularThreshold(this->worldId, 0.001);
- dWorldSetAutoDisableSteps(this->worldId, 50);
-
Param::Begin(&this->parameters);
this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
this->globalERPP = new ParamT<double>("erp", 0.2, 0);
@@ -164,7 +156,7 @@
this->stepWP = new ParamT<double>("stepW", 1.3, 0); /// over_relaxation
value for SOR
this->contactMaxCorrectingVelP = new
ParamT<double>("contactMaxCorrectingVel", 10.0, 0);
this->contactSurfaceLayerP = new ParamT<double>("contactSurfaceLayer", 0.01,
0);
- this->autoDisableBodyP = new ParamT<bool>("autoDisableBody", false, 0);
+ this->autoDisableBodyP = new ParamT<bool>("autoDisableBody", true, 0);
this->contactFeedbacksP = new ParamT<int>("contactFeedbacks", 100, 0); //
just an initial value, appears to get resized if limit is breached
this->maxContactsP = new ParamT<int>("maxContacts",1000,0); // enforced for
trimesh-trimesh contacts
Param::End();
@@ -226,13 +218,14 @@
// doesn't behave properly
// disable autodisable by default
dWorldSetAutoDisableFlag(this->worldId, **this->autoDisableBodyP);
- dWorldSetAutoDisableTime(this->worldId, 2.0);
+ dWorldSetAutoDisableTime(this->worldId, 0);
dWorldSetAutoDisableLinearThreshold(this->worldId, 0.001);
dWorldSetAutoDisableAngularThreshold(this->worldId, 0.001);
- dWorldSetAutoDisableSteps(this->worldId, 50);
+ dWorldSetAutoDisableSteps(this->worldId, 0);
this->contactFeedbacks.resize(**this->contactFeedbacksP);
+ // NATY: not sure if I can remove this...check
// Reset the contact pointer
//this->contactFeedbackIter = this->contactFeedbacks.begin();
@@ -315,8 +308,6 @@
{
this->UpdateCollision();
- //this->LockMutex();
-
// Update the dynamical model
if (**this->stepTypeP == "quick")
dWorldQuickStep(this->worldId, (**this->stepTimeP).Double());
@@ -327,8 +318,6 @@
// Very important to clear out the contact group
dJointGroupEmpty( this->contactGroup );
-
- //this->UnlockMutex();
}
@@ -593,6 +582,7 @@
// Handle a collision
void ODEPhysics::CollisionCallback( void *data, dGeomID o1, dGeomID o2)
{
+
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
Modified: code/gazebo/branches/dev/server/rendering/Grid.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/Grid.cc 2010-12-30 02:05:37 UTC
(rev 9015)
+++ code/gazebo/branches/dev/server/rendering/Grid.cc 2011-01-10 23:52:19 UTC
(rev 9016)
@@ -144,7 +144,7 @@
Ogre::SceneNode *parent_node = this->scene->GetManager()->getRootSceneNode();
- this->sceneNode = parent_node->createChildSceneNode();
+ this->sceneNode = parent_node->createChildSceneNode(this->name);
this->sceneNode->attachObject( this->manualObject );
std::stringstream ss;
Modified: code/gazebo/branches/dev/server/rendering/Scene.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/Scene.cc 2010-12-30 02:05:37 UTC
(rev 9015)
+++ code/gazebo/branches/dev/server/rendering/Scene.cc 2011-01-10 23:52:19 UTC
(rev 9016)
@@ -55,7 +55,7 @@
/// Destructor
Scene::~Scene()
{
- std::map<std::string, Visual*>::iterator iter;
+ VisualMap::iterator iter;
for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
delete iter->second;
this->visuals.clear();
@@ -470,8 +470,27 @@
/// Print scene graph
void Scene::PrintSceneGraphHelper(std::string prefix, Ogre::Node *node)
{
- std::cout << prefix << node->getName() << std::endl;
+ Ogre::SceneNode *snode = dynamic_cast<Ogre::SceneNode*>(node);
+ std::string nodeName = node->getName();
+ int numAttachedObjs = 0;
+ bool isInSceneGraph = false;
+ if (snode)
+ {
+ numAttachedObjs = snode->numAttachedObjects();
+ isInSceneGraph = snode->isInSceneGraph();
+ }
+ int numChildren = node->numChildren();
+ Ogre::Vector3 pos = node->getPosition();
+ Ogre::Vector3 scale = node->getScale();
+
+ std::cout << prefix << nodeName << "\n";
+ std::cout << prefix << " Num Objs[" << numAttachedObjs << "]\n";
+ std::cout << prefix << " Num Children[" << numChildren << "]\n";
+ std::cout << prefix << " IsInGraph[" << isInSceneGraph << "]\n";
+ std::cout << prefix << " Pos[" << pos.x << " " << pos.y << " " << pos.z <<
"]\n";
+ std::cout << prefix << " Scale[" << scale.x << " " << scale.y << " " <<
scale.z << "]\n";
+
prefix += " ";
for (unsigned int i=0; i < node->numChildren(); i++)
{
@@ -660,7 +679,7 @@
if (this->messages[i]->type == VISUAL_MSG)
{
VisualMsg *msg = (VisualMsg*)this->messages[i];
- std::map<std::string, Visual*>::iterator iter;
+ VisualMap::iterator iter;
iter = this->visuals.find(msg->id);
if (iter != this->visuals.end())
{
@@ -668,7 +687,14 @@
}
else
{
- Visual *visual = new Visual(msg->id, this);
+ Visual *visual = NULL;
+ VisualMap::iterator iter;
+ iter = this->visuals.find(msg->parentId);
+
+ if (iter != this->visuals.end())
+ visual = new Visual(msg->id, iter->second);
+ else
+ visual = new Visual(msg->id, this);
visual->LoadFromMsg(msg);
this->visuals[msg->id] = visual;
}
@@ -676,7 +702,7 @@
else if (this->messages[i]->type == POSE_MSG)
{
PoseMsg *msg = (PoseMsg*)this->messages[i];
- std::map<std::string, Visual*>::iterator iter;
+ VisualMap::iterator iter;
iter = this->visuals.find(msg->id);
if (iter != this->visuals.end())
{
Modified: code/gazebo/branches/dev/server/rendering/Scene.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/Scene.hh 2010-12-30 02:05:37 UTC
(rev 9015)
+++ code/gazebo/branches/dev/server/rendering/Scene.hh 2011-01-10 23:52:19 UTC
(rev 9016)
@@ -25,6 +25,8 @@
class Scene
{
+ typedef std::map<std::string, Visual*> VisualMap;
+
public: enum SceneType {BSP, GENERIC};
/// \brief Constructor
@@ -179,8 +181,7 @@
private: boost::mutex mutex;
private: std::vector<Message*> messages;
- private: std::map<std::string, Visual*> visuals;
-
+ private: VisualMap visuals;
};
};
#endif
Modified: code/gazebo/branches/dev/server/rendering/Visual.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.cc 2010-12-30 02:05:37 UTC
(rev 9015)
+++ code/gazebo/branches/dev/server/rendering/Visual.cc 2011-01-10 23:52:19 UTC
(rev 9016)
@@ -61,16 +61,13 @@
this->AddType(VISUAL);
this->sceneNode = NULL;
- std::ostringstream stream;
- stream << this->GetName() << "_VISUAL_" << visualCounter++;
-
Ogre::SceneNode *pnode = NULL;
if (parent)
pnode = parent->GetSceneNode();
else
gzerr(0) << "Create a visual, invalid parent!!!\n";
- this->sceneNode = pnode->createChildSceneNode( stream.str() );
+ this->sceneNode = pnode->createChildSceneNode( this->GetName() );
this->Init();
}
@@ -84,11 +81,8 @@
this->AddType(VISUAL);
this->sceneNode = NULL;
- std::ostringstream stream;
- stream << this->GetName() << "_VISUAL_" << visualCounter++;
+ this->sceneNode = parent->createChildSceneNode( this->GetName() );
- this->sceneNode = parent->createChildSceneNode( stream.str() );
-
this->Init();
}
@@ -101,11 +95,8 @@
this->AddType(VISUAL);
this->sceneNode = NULL;
- std::ostringstream stream;
- stream << this->GetName() << "_VISUAL_" << visualCounter++;
+ this->sceneNode =
scene->GetManager()->getRootSceneNode()->createChildSceneNode(this->GetName());
- this->sceneNode =
scene->GetManager()->getRootSceneNode()->createChildSceneNode(stream.str());
-
this->Init();
}
@@ -235,6 +226,7 @@
this->meshTileP->Load(NULL);
this->materialNameP->SetValue(msg->material);
this->castShadowsP->SetValue(msg->castShadows);
+ this->sizeP->SetValue(msg->size);
this->Load(NULL);
}
@@ -246,7 +238,7 @@
std::ostringstream stream;
Pose3d pose;
Vector3 size(0,0,0);
- Ogre::Vector3 meshSize(0,0,0);
+ Ogre::Vector3 meshSize(1,1,1);
Ogre::MovableObject *obj = NULL;
if (node)
@@ -294,8 +286,6 @@
MeshManager::Instance()->Load(meshName);
}
- std::cout << "Mesh Name[" << meshName << "]\n";
-
// Add the mesh into OGRE
this->InsertMesh( MeshManager::Instance()->GetMesh(meshName) );
@@ -321,18 +311,22 @@
// Get the size of the mesh
if (obj)
+ {
meshSize = obj->getBoundingBox().getSize();
+ //this->sizeP->SetValue( Vector3(meshSize.x, meshSize.y, meshSize.z) );
+ }
// Get the desired size of the mesh
if (node && node->GetChild("size") != NULL)
{
this->sizeP->Load(node);
}
- else
+ /*else
this->sizeP->SetValue( Vector3(meshSize.x, meshSize.y, meshSize.z) );
+ */
// Get and set teh desired scale of the mesh
- if (node && node->GetChild("scale") != NULL)
+ /*if (node && node->GetChild("scale") != NULL)
{
this->scaleP->Load(node);
Vector3 scale = this->scaleP->GetValue();
@@ -340,6 +334,7 @@
}
else
{
+ */
Vector3 scale = this->sizeP->GetValue();
scale.x /= meshSize.x;
scale.y /= meshSize.y;
@@ -347,9 +342,9 @@
scale.Correct();
this->scaleP->SetValue( scale );
-
this->sceneNode->setScale(scale.x, scale.y, scale.z);
- }
+ //}
+
// Set the material of the mesh
if (**this->materialNameP != "none")
@@ -844,6 +839,7 @@
//this->staticGeom->setOrigin( Ogre::Vector3(pos.x, pos.y, pos.z) );
}*/
+ //std::cout << "SetPos[" << pos << "][" << this->GetName() << "]\n";
this->sceneNode->setPosition(pos.x, pos.y, pos.z);
/*if (this->IsStatic())
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