Revision: 9027
http://playerstage.svn.sourceforge.net/playerstage/?rev=9027&view=rev
Author: natepak
Date: 2011-01-18 17:23:26 +0000 (Tue, 18 Jan 2011)
Log Message:
-----------
Fixed show physics
Modified Paths:
--------------
code/gazebo/branches/dev/server/GraphicsIfaceHandler.cc
code/gazebo/branches/dev/server/Messages.hh
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/Joint.cc
code/gazebo/branches/dev/server/physics/MultiRayShape.cc
code/gazebo/branches/dev/server/physics/RayShape.cc
code/gazebo/branches/dev/server/rendering/OgreDynamicLines.cc
code/gazebo/branches/dev/server/rendering/OgreDynamicLines.hh
code/gazebo/branches/dev/server/rendering/OgreDynamicRenderable.cc
code/gazebo/branches/dev/server/rendering/OgreDynamicRenderable.hh
code/gazebo/branches/dev/server/rendering/RenderTypes.hh
code/gazebo/branches/dev/server/rendering/Visual.cc
code/gazebo/branches/dev/server/rendering/Visual.hh
code/gazebo/branches/dev/server/wx/BoxMaker.cc
code/gazebo/branches/dev/server/wx/CylinderMaker.cc
code/gazebo/branches/dev/server/wx/SphereMaker.cc
code/gazebo/branches/dev/worlds/new/empty.world
Modified: code/gazebo/branches/dev/server/GraphicsIfaceHandler.cc
===================================================================
--- code/gazebo/branches/dev/server/GraphicsIfaceHandler.cc 2011-01-18
05:31:59 UTC (rev 9026)
+++ code/gazebo/branches/dev/server/GraphicsIfaceHandler.cc 2011-01-18
17:23:26 UTC (rev 9027)
@@ -171,7 +171,7 @@
{
Vector3 pos;
bool attached = false;
- OperationType opType;
+ RenderOpType opType;
OgreDynamicLines *line;
switch(data->drawMode)
Modified: code/gazebo/branches/dev/server/Messages.hh
===================================================================
--- code/gazebo/branches/dev/server/Messages.hh 2011-01-18 05:31:59 UTC (rev
9026)
+++ code/gazebo/branches/dev/server/Messages.hh 2011-01-18 17:23:26 UTC (rev
9027)
@@ -3,6 +3,7 @@
#include <vector>
+#include "RenderTypes.hh"
#include "Color.hh"
#include "Vector3.hh"
#include "Time.hh"
@@ -66,7 +67,6 @@
class VisualMsg : public Message
{
public: enum ActionType {UPDATE, DELETE};
- public: enum RenderType {MESH_RESOURCE, POINTS, LINE_LIST, LINE_STRIP,
TRIANGLE_FAN};
public: VisualMsg();
public: VisualMsg(const VisualMsg &m);
@@ -78,7 +78,7 @@
public: std::string parentId;
public: std::string id;
public: ActionType action;
- public: RenderType render;
+ public: RenderOpType render;
public: std::string mesh;
public: std::string material;
public: bool castShadows;
Modified: code/gazebo/branches/dev/server/World.cc
===================================================================
--- code/gazebo/branches/dev/server/World.cc 2011-01-18 05:31:59 UTC (rev
9026)
+++ code/gazebo/branches/dev/server/World.cc 2011-01-18 17:23:26 UTC (rev
9027)
@@ -215,6 +215,7 @@
this->worldStatesInsertIter = this->worldStates.begin();
this->worldStatesEndIter = this->worldStates.begin();
this->worldStatesCurrentIter = this->worldStatesInsertIter;
+
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.cc 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -59,8 +59,6 @@
// NATY: put back in functionality
// this->GetVisualNode()->SetShowInGui(false);
- this->cgVisualMsg = NULL;
-
this->comEntity = new Entity(this);
this->comEntity->SetName("COM_Entity");
this->comEntity->SetShowInGui(false);
@@ -112,12 +110,15 @@
std::vector<Entity*>::iterator iter;
std::vector< Sensor* >::iterator siter;
- if (this->cgVisualMsg)
+ if (this->cgVisualMsgs.size() > 0)
{
- this->cgVisualMsg->action = VisualMsg::DELETE;
- Simulator::Instance()->SendMessage(*this->cgVisualMsg);
- delete this->cgVisualMsg;
- this->cgVisualMsg = NULL;
+ for (unsigned int i=0; i < this->cgVisualMsgs.size(); i++)
+ {
+ this->cgVisualMsgs[i]->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage(*this->cgVisualMsgs[i]);
+ delete this->cgVisualMsgs[i];
+ }
+ this->cgVisualMsgs.clear();
}
for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
@@ -382,38 +383,39 @@
std::ostringstream visname;
visname << this->GetCompleteScopedName() + ":" + this->GetName() <<
"_CGVISUAL" ;
- this->cgVisualMsg = new VisualMsg();
- this->cgVisualMsg->parentId = this->comEntity->GetCompleteScopedName();
- this->cgVisualMsg->id = visname.str();
- this->cgVisualMsg->render = VisualMsg::MESH_RESOURCE;
- this->cgVisualMsg->mesh = "body_cg";
- this->cgVisualMsg->material = "Gazebo/Red";
- 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;
+ msg = new VisualMsg();
+ msg->parentId = this->comEntity->GetCompleteScopedName();
+ msg->id = visname.str();
+ msg->render = RENDERING_MESH_RESOURCE;
+ msg->mesh = "unit_box";
+ msg->material = "Gazebo/Red";
+ msg->castShadows = false;
+ msg->attachAxes = true;
+ msg->visible = false;
+ msg->size.Set(0.1, 0.1, 0.1);
+ Simulator::Instance()->SendMessage(*msg);
+ this->cgVisualMsgs.push_back( msg );
- /*VisualMsg msg;
- msg.parentId = this->cgVisualMsg->id;
- msg.render = VisualMsg::LINE_LIST;
- msg.attachAxes = false;
- msg.material = "Gazebo/GreenGlow";
-
- // Create a line to each geom
- for (std::map< std::string, Geom* >::iterator giter = this->geoms.begin();
- giter != this->geoms.end(); giter++)
+ if (this->geoms.size() > 1)
{
- msg.points.clear();
+ msg = new VisualMsg();
+ msg->parentId = this->comEntity->GetCompleteScopedName();
+ msg->id = visname.str() + "_connectors";
+ msg->render = RENDERING_LINE_LIST;
+ msg->attachAxes = false;
+ msg->material = "Gazebo/GreenGlow";
+ msg->visible = false;
- msg.id = visname.str() + "_lineto_" + giter->first;
- msg.points.push_back( Vector3(0,0,0) );
- msg.points.push_back(giter->second->GetRelativePose().pos);
-
- Simulator::Instance()->SendMessage(msg);
+ // Create a line to each geom
+ for (std::map< std::string, Geom* >::iterator giter =
this->geoms.begin(); giter != this->geoms.end(); giter++)
+ {
+ msg->points.push_back( Vector3(0,0,0) );
+ msg->points.push_back(giter->second->GetRelativePose().pos);
+ }
+ Simulator::Instance()->SendMessage(*msg);
+ this->cgVisualMsgs.push_back( msg );
}
- */
}
this->enabled = true;
@@ -703,16 +705,22 @@
/// Toggle show the physics visualizations
void Body::ToggleShowPhysics()
{
- this->cgVisualMsg->visible = !this->cgVisualMsg->visible;
- Simulator::Instance()->SendMessage(*this->cgVisualMsg);
+ for (unsigned int i=0; i < this->cgVisualMsgs.size(); i++)
+ {
+ this->cgVisualMsgs[i]->visible = !this->cgVisualMsgs[i]->visible;
+ Simulator::Instance()->SendMessage(*this->cgVisualMsgs[i]);
+ }
}
////////////////////////////////////////////////////////////////////////////////
/// Set to true to show the physics visualizations
void Body::ShowPhysics(bool show)
{
- this->cgVisualMsg->visible = show;
- Simulator::Instance()->SendMessage(*this->cgVisualMsg);
+ for (unsigned int i=0; i < this->cgVisualMsgs.size(); i++)
+ {
+ this->cgVisualMsgs[i]->visible = show;
+ Simulator::Instance()->SendMessage(*this->cgVisualMsgs[i]);
+ }
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/physics/Body.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.hh 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/physics/Body.hh 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -270,7 +270,7 @@
protected: ParamT<bool> *turnGravityOffP;
protected: ParamT<bool> *selfCollideP;
- protected: VisualMsg *cgVisualMsg;
+ protected: std::vector<VisualMsg *> cgVisualMsgs;
protected: Vector3 linearAccel;
protected: Vector3 angularAccel;
Modified: code/gazebo/branches/dev/server/physics/Geom.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.cc 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/physics/Geom.cc 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -26,6 +26,7 @@
#include <sstream>
+#include "RenderTypes.hh"
#include "RenderState.hh"
#include "Events.hh"
#include "Model.hh"
@@ -177,10 +178,9 @@
msg->parentId = this->GetCompleteScopedName();
msg->id = visname.str();
- msg->render = VisualMsg::MESH_RESOURCE;
+ msg->render = RENDERING_MESH_RESOURCE;
msg->Load(childNode);
msg->castShadows = false;
- msg->pose = this->GetRelativePose();
Simulator::Instance()->SendMessage( *msg );
@@ -207,7 +207,7 @@
this->bbVisualMsg = new VisualMsg();
- this->bbVisualMsg->render = VisualMsg::MESH_RESOURCE;
+ this->bbVisualMsg->render = RENDERING_MESH_RESOURCE;
this->bbVisualMsg->parentId = this->GetCompleteScopedName();
this->bbVisualMsg->id = this->GetCompleteScopedName() + "_BBVISUAL";
this->bbVisualMsg->castShadows = false;
Modified: code/gazebo/branches/dev/server/physics/Joint.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Joint.cc 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/physics/Joint.cc 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -162,7 +162,7 @@
this->visualMsg = new VisualMsg();
this->visualMsg->parentId = this->GetName();
this->visualMsg->id = visname.str();
- this->visualMsg->render = VisualMsg::MESH_RESOURCE;
+ this->visualMsg->render = RENDERING_MESH_RESOURCE;
this->visualMsg->pose.pos = this->anchorPos;
this->visualMsg->castShadows = false;
this->visualMsg->mesh = "joint_anchor";
@@ -172,7 +172,7 @@
this->line1Msg = new VisualMsg();
this->line1Msg->parentId = this->visualMsg->id;
this->line1Msg->id = "line1";
- this->line1Msg->render = VisualMsg::LINE_LIST;
+ this->line1Msg->render = RENDERING_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));
@@ -180,7 +180,7 @@
this->line2Msg = new VisualMsg();
this->line2Msg->parentId = this->visualMsg->id;
this->line2Msg->id = "line2";
- this->line2Msg->render = VisualMsg::LINE_LIST;
+ this->line2Msg->render = RENDERING_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));
Modified: code/gazebo/branches/dev/server/physics/MultiRayShape.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/MultiRayShape.cc 2011-01-18
05:31:59 UTC (rev 9026)
+++ code/gazebo/branches/dev/server/physics/MultiRayShape.cc 2011-01-18
17:23:26 UTC (rev 9027)
@@ -14,13 +14,13 @@
this->rayFanMsg = new VisualMsg();
this->rayFanMsg->id = this->GetName()+"_fan";
this->rayFanMsg->parentId = this->geomParent->GetName();
- this->rayFanMsg->render = VisualMsg::TRIANGLE_FAN;
+ this->rayFanMsg->render = RENDERING_TRIANGLE_FAN;
this->rayFanMsg->material = "Gazebo/BlueLaser";
this->rayFanOutlineMsg = new VisualMsg();
this->rayFanOutlineMsg->id = this->GetName()+"_fanoutline";
this->rayFanOutlineMsg->parentId = this->geomParent->GetName();
- this->rayFanOutlineMsg->render = VisualMsg::LINE_STRIP;
+ this->rayFanOutlineMsg->render = RENDERING_LINE_STRIP;
this->rayFanOutlineMsg->material = "Gazebo/BlueGlow";
Param::Begin(&this->parameters);
Modified: code/gazebo/branches/dev/server/physics/RayShape.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/RayShape.cc 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/physics/RayShape.cc 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -42,7 +42,7 @@
this->lineMsg = new VisualMsg();
this->lineMsg->id = this->GetName();
this->lineMsg->parentId = this->geomParent->GetName();
- this->lineMsg->render = VisualMsg::LINE_LIST;
+ this->lineMsg->render = RENDERING_LINE_LIST;
// Add two points
this->lineMsg->points.push_back(Vector3(0,0,0));
Modified: code/gazebo/branches/dev/server/rendering/OgreDynamicLines.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/OgreDynamicLines.cc
2011-01-18 05:31:59 UTC (rev 9026)
+++ code/gazebo/branches/dev/server/rendering/OgreDynamicLines.cc
2011-01-18 17:23:26 UTC (rev 9027)
@@ -37,7 +37,7 @@
enum { POSITION_BINDING, TEXCOORD_BINDING };
-OgreDynamicLines::OgreDynamicLines(OperationType opType)
+OgreDynamicLines::OgreDynamicLines(RenderOpType opType)
{
this->Init(opType, false);
this->setCastShadows(false);
Modified: code/gazebo/branches/dev/server/rendering/OgreDynamicLines.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/OgreDynamicLines.hh
2011-01-18 05:31:59 UTC (rev 9026)
+++ code/gazebo/branches/dev/server/rendering/OgreDynamicLines.hh
2011-01-18 17:23:26 UTC (rev 9027)
@@ -42,7 +42,7 @@
class OgreDynamicLines : public OgreDynamicRenderable
{
/// Constructor
- public: OgreDynamicLines(OperationType opType=RENDERING_LINE_STRIP);
+ public: OgreDynamicLines(RenderOpType opType=RENDERING_LINE_STRIP);
/// Destructor
public: virtual ~OgreDynamicLines();
Modified: code/gazebo/branches/dev/server/rendering/OgreDynamicRenderable.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/OgreDynamicRenderable.cc
2011-01-18 05:31:59 UTC (rev 9026)
+++ code/gazebo/branches/dev/server/rendering/OgreDynamicRenderable.cc
2011-01-18 17:23:26 UTC (rev 9027)
@@ -21,7 +21,7 @@
////////////////////////////////////////////////////////////////////////////////
/// Initializes the dynamic renderable.
-void OgreDynamicRenderable::Init(OperationType operationType, bool useIndices)
+void OgreDynamicRenderable::Init(RenderOpType operationType, bool useIndices)
{
this->SetOperationType(operationType);
@@ -42,7 +42,7 @@
////////////////////////////////////////////////////////////////////////////////
// Set the render operation type
-void OgreDynamicRenderable::SetOperationType(OperationType opType)
+void OgreDynamicRenderable::SetOperationType(RenderOpType opType)
{
switch (opType)
{
@@ -74,9 +74,9 @@
////////////////////////////////////////////////////////////////////////////////
// Get the render operation type
-OperationType OgreDynamicRenderable::GetOperationType() const
+RenderOpType OgreDynamicRenderable::GetOperationType() const
{
- OperationType type;
+ RenderOpType type;
switch (this->mRenderOp.operationType)
{
case Ogre::RenderOperation::OT_LINE_LIST:
Modified: code/gazebo/branches/dev/server/rendering/OgreDynamicRenderable.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/OgreDynamicRenderable.hh
2011-01-18 05:31:59 UTC (rev 9026)
+++ code/gazebo/branches/dev/server/rendering/OgreDynamicRenderable.hh
2011-01-18 17:23:26 UTC (rev 9027)
@@ -27,13 +27,13 @@
/// \param operationType The type of render operation to perform.
/// \param useIndices Specifies whether to use indices to determine the
/// vertices to use as input.
- public: void Init(OperationType operationType, bool useIndices=false);
+ public: void Init(RenderOpType operationType, bool useIndices=false);
/// \brief Set the render operation type
- public: void SetOperationType(OperationType opType);
+ public: void SetOperationType(RenderOpType opType);
/// \brief Get the render operation type
- public: OperationType GetOperationType() const;
+ public: RenderOpType GetOperationType() const;
/// \brief Implementation of Ogre::SimpleRenderable
public: virtual Ogre::Real getBoundingRadius(void) const;
Modified: code/gazebo/branches/dev/server/rendering/RenderTypes.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/RenderTypes.hh 2011-01-18
05:31:59 UTC (rev 9026)
+++ code/gazebo/branches/dev/server/rendering/RenderTypes.hh 2011-01-18
17:23:26 UTC (rev 9027)
@@ -1,7 +1,7 @@
#ifndef RENDERING_HH
#define RENDERING_HH
-enum OperationType
+enum RenderOpType
{
/// A list of points, 1 vertex per point
RENDERING_POINT_LIST = 0,//Ogre::RenderOperation::OT_POINT_LIST,
@@ -20,6 +20,8 @@
/// A fan of triangles, 3 vertices for the first triangle, and 1 per
triangle after that
RENDERING_TRIANGLE_FAN = 5,//Ogre::RenderOperation::OT_TRIANGLE_FAN
+
+ RENDERING_MESH_RESOURCE = 6
};
#endif
Modified: code/gazebo/branches/dev/server/rendering/Visual.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.cc 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/rendering/Visual.cc 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -195,7 +195,7 @@
this->sizeP->SetValue(msg->size);
this->Load(NULL);
- this->SetVisible(msg->visible);
+ this->UpdateFromMsg(msg);
}
////////////////////////////////////////////////////////////////////////////////
@@ -283,7 +283,6 @@
if (obj)
{
meshSize = obj->getBoundingBox().getSize();
- //this->sizeP->SetValue( Vector3(meshSize.x, meshSize.y, meshSize.z) );
}
// Get the desired size of the mesh
@@ -291,30 +290,15 @@
{
this->sizeP->Load(node);
}
- /*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)
- {
- this->scaleP->Load(node);
- Vector3 scale = this->scaleP->GetValue();
- this->sceneNode->setScale(scale.x, scale.y, scale.z);
- }
- else
- {
- */
- Vector3 scale = this->sizeP->GetValue();
- scale.x /= meshSize.x;
- scale.y /= meshSize.y;
- scale.z /= meshSize.z;
- scale.Correct();
+ Vector3 scale = this->sizeP->GetValue();
+ scale.x /= meshSize.x;
+ scale.y /= meshSize.y;
+ scale.z /= meshSize.z;
+ scale.Correct();
- this->scaleP->SetValue( scale );
- this->sceneNode->setScale(scale.x, scale.y, scale.z);
- //}
-
+ this->scaleP->SetValue( scale );
+ this->sceneNode->setScale(scale.x, scale.y, scale.z);
// Set the material of the mesh
if (**this->materialNameP != "none")
@@ -501,12 +485,7 @@
/// Set the scale
void Visual::SetScale(const Vector3 &scale )
{
- Ogre::Vector3 vscale;
- vscale.x=scale.x;
- vscale.y=scale.y;
- vscale.z=scale.z;
-
- this->sceneNode->setScale(vscale);
+ this->sceneNode->setScale(Ogre::Vector3(scale.x, scale.y, scale.z));
}
////////////////////////////////////////////////////////////////////////////////
@@ -753,7 +732,6 @@
/// Set whether the visual is visible
void Visual::SetVisible(bool visible, bool cascade)
{
- std::cout << "VIs[" << this->GetName() << "]=" << visible << "\n";
this->sceneNode->setVisible( visible, cascade );
this->visible = visible;
}
@@ -1142,7 +1120,7 @@
////////////////////////////////////////////////////////////////////////////////
// Add a line to the visual
-OgreDynamicLines *Visual::AddDynamicLine(OperationType type)
+OgreDynamicLines *Visual::AddDynamicLine(RenderOpType type)
{
Events::ConnectPreRenderSignal( boost::bind(&Visual::Update, this) );
@@ -1382,9 +1360,14 @@
this->SetPose(msg->pose);
this->SetTransparency(msg->transparency);
this->SetScale(msg->size);
- std::cout << "Scale[" << msg->size << "]\n";
-
- this->SetVisible(msg->visible, 1);
+ this->SetVisible(msg->visible);
+
+ if (msg->points.size() > 0)
+ {
+ OgreDynamicLines *lines = this->AddDynamicLine(RENDERING_LINE_LIST);
+ for (unsigned int i=0; i < msg->points.size(); i++)
+ lines->AddPoint( msg->points[i] );
+ }
}
Modified: code/gazebo/branches/dev/server/rendering/Visual.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.hh 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/rendering/Visual.hh 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -225,7 +225,7 @@
public: bool GetUseRTShader() const;
/// \brief Add a line to the visual
- public: OgreDynamicLines *AddDynamicLine(OperationType type);
+ public: OgreDynamicLines *AddDynamicLine(RenderOpType type);
/// \brief Delete a dynamic line
public: void DeleteDynamicLine(OgreDynamicLines *line);
Modified: code/gazebo/branches/dev/server/wx/BoxMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/BoxMaker.cc 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/wx/BoxMaker.cc 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -18,7 +18,7 @@
{
this->state = 0;
this->visualMsg = new VisualMsg();
- this->visualMsg->render = VisualMsg::MESH_RESOURCE;
+ this->visualMsg->render = RENDERING_MESH_RESOURCE;
this->visualMsg->mesh = "unit_box_U1V1";
this->visualMsg->material = "Gazebo/TurquoiseGlowOutline";
}
Modified: code/gazebo/branches/dev/server/wx/CylinderMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/CylinderMaker.cc 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/wx/CylinderMaker.cc 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -16,7 +16,7 @@
{
this->state = 0;
this->visualMsg = new VisualMsg();
- this->visualMsg->render = VisualMsg::MESH_RESOURCE;
+ this->visualMsg->render = RENDERING_MESH_RESOURCE;
this->visualMsg->mesh = "unit_cylinder";
this->visualMsg->material = "Gazebo/TurquoiseGlowOutline";
}
Modified: code/gazebo/branches/dev/server/wx/SphereMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/SphereMaker.cc 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/server/wx/SphereMaker.cc 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -18,7 +18,7 @@
{
this->state = 0;
this->visualMsg = new VisualMsg();
- this->visualMsg->render = VisualMsg::MESH_RESOURCE;
+ this->visualMsg->render = RENDERING_MESH_RESOURCE;
this->visualMsg->mesh = "unit_sphere";
this->visualMsg->material = "Gazebo/TurquoiseGlowOutline";
}
Modified: code/gazebo/branches/dev/worlds/new/empty.world
===================================================================
--- code/gazebo/branches/dev/worlds/new/empty.world 2011-01-18 05:31:59 UTC
(rev 9026)
+++ code/gazebo/branches/dev/worlds/new/empty.world 2011-01-18 17:23:26 UTC
(rev 9027)
@@ -49,7 +49,7 @@
</model>
<model type="physical" name="box_model">
- <xyz>0 0 1.5</xyz>
+ <xyz>0 0 0.5</xyz>
<static>false</static>
<body name="body">
<geom type="box" name="geom">
@@ -61,18 +61,40 @@
<material>Gazebo/Red</material>
</visual>
</geom>
+ <geom type="box" name="geom1">
+ <xyz>0 1.0 1.0</xyz>
+ <size>.5 .5 .5</size>
+ <mass>1.0</mass>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Red</material>
+ </visual>
+ </geom>
+
+ <geom type="box" name="geom2">
+ <xyz>0 -1.0 1.0</xyz>
+ <size>.5 .5 .5</size>
+ <mass>1.0</mass>
+ <visual>
+ <size>.5 .5 .5</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Red</material>
+ </visual>
+ </geom>
+
</body>
</model>
<model type="physical" name="sphere_model">
- <xyz>0 1.5 3.5</xyz>
+ <xyz>0 2.0 1.5</xyz>
<static>false</static>
<body name="body">
- <geom type="box" name="geom">
- <size>0.5</size>
+ <geom type="sphere" name="geom">
+ <size>0.1</size>
<mass>1.0</mass>
<visual>
- <size>1 1 1</size>
+ <size>.1 .1 .1</size>
<mesh>unit_sphere</mesh>
<material>Gazebo/Blue</material>
</visual>
@@ -81,10 +103,10 @@
</model>
<model type="physical" name="cylinder_model">
- <xyz>0 -1.5 1.5</xyz>
+ <xyz>0 -2 1.5</xyz>
<static>false</static>
<body name="body">
- <geom type="box" name="geom">
+ <geom type="cylinder" name="geom">
<size>0.5 1.0</size>
<mass>1.0</mass>
<visual>
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