Revision: 9026
http://playerstage.svn.sourceforge.net/playerstage/?rev=9026&view=rev
Author: natepak
Date: 2011-01-18 05:31:59 +0000 (Tue, 18 Jan 2011)
Log Message:
-----------
Fixing cg visual
Modified Paths:
--------------
code/gazebo/branches/dev/server/physics/Body.cc
code/gazebo/branches/dev/server/rendering/Visual.cc
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.cc 2011-01-18 04:12:06 UTC
(rev 9025)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2011-01-18 05:31:59 UTC
(rev 9026)
@@ -375,16 +375,15 @@
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->GetId();
+ this->cgVisualMsg->parentId = this->comEntity->GetCompleteScopedName();
this->cgVisualMsg->id = visname.str();
this->cgVisualMsg->render = VisualMsg::MESH_RESOURCE;
this->cgVisualMsg->mesh = "body_cg";
@@ -392,9 +391,11 @@
this->cgVisualMsg->castShadows = false;
this->cgVisualMsg->attachAxes = true;
this->cgVisualMsg->visible = false;
+ this->cgVisualMsg->size.Set(0.1, 0.1, 0.1);
Simulator::Instance()->SendMessage(*this->cgVisualMsg);
+ this->cgVisualMsg->size.Set(100, 100, 100);
- VisualMsg msg;
+ /*VisualMsg msg;
msg.parentId = this->cgVisualMsg->id;
msg.render = VisualMsg::LINE_LIST;
msg.attachAxes = false;
@@ -412,7 +413,8 @@
Simulator::Instance()->SendMessage(msg);
}
- }*/
+ */
+ }
this->enabled = true;
}
Modified: code/gazebo/branches/dev/server/rendering/Visual.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.cc 2011-01-18 04:12:06 UTC
(rev 9025)
+++ code/gazebo/branches/dev/server/rendering/Visual.cc 2011-01-18 05:31:59 UTC
(rev 9026)
@@ -195,6 +195,7 @@
this->sizeP->SetValue(msg->size);
this->Load(NULL);
+ this->SetVisible(msg->visible);
}
////////////////////////////////////////////////////////////////////////////////
@@ -500,13 +501,6 @@
/// Set the scale
void Visual::SetScale(const Vector3 &scale )
{
- // NATY
- //boost::recursive_mutex::scoped_lock lock(*this->mutex);
-
- // Stop here if the rendering engine has been disabled
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
-
Ogre::Vector3 vscale;
vscale.x=scale.x;
vscale.y=scale.y;
@@ -759,13 +753,7 @@
/// Set whether the visual is visible
void Visual::SetVisible(bool visible, bool cascade)
{
- // NATY
- //boost::recursive_mutex::scoped_lock lock(*this->mutex);
-
- // Stop here if the rendering engine has been disabled
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
-
+ std::cout << "VIs[" << this->GetName() << "]=" << visible << "\n";
this->sceneNode->setVisible( visible, cascade );
this->visible = visible;
}
@@ -788,13 +776,6 @@
// Set the position of the visual
void Visual::SetPosition( const Vector3 &pos)
{
- // NATY
- //boost::recursive_mutex::scoped_lock lock(*this->mutex);
-
- // Stop here if the rendering engine has been disabled
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
-
/*if (this->IsStatic() && this->staticGeom)
{
this->staticGeom->reset();
@@ -1401,6 +1382,9 @@
this->SetPose(msg->pose);
this->SetTransparency(msg->transparency);
this->SetScale(msg->size);
+ std::cout << "Scale[" << msg->size << "]\n";
+
+ this->SetVisible(msg->visible, 1);
}
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