[Playerstage-commit] SF.net SVN: playerstage:[9088] code/player/trunk/libplayercore
Revision: 9088
http://playerstage.svn.sourceforge.net/playerstage/?rev=9088view=rev
Author: natepak
Date: 2012-01-04 22:18:25 + (Wed, 04 Jan 2012)
Log Message:
---
Removed some build warnings
Modified Paths:
--
code/player/trunk/libplayercore/driver.h
code/player/trunk/libplayercore/property.cpp
code/player/trunk/libplayercore/property.h
Modified: code/player/trunk/libplayercore/driver.h
===
--- code/player/trunk/libplayercore/driver.h2012-01-01 03:47:04 UTC (rev
9087)
+++ code/player/trunk/libplayercore/driver.h2012-01-04 22:18:25 UTC (rev
9088)
@@ -340,7 +340,7 @@
@param addr Address of the device to subscribe to (the driver may
have more than one interface).
@returns Returns 0 on success, -ve on error and 1 for unimplemented. */
-virtual int Subscribe(QueuePointer queue, player_devaddr_t addr) {return
1;};
+virtual int Subscribe(QueuePointer /*queue*/, player_devaddr_t /*addr*/)
{return 1;};
/** @brief Unsubscribe from this driver.
@@ -366,7 +366,7 @@
@param addr Address of the device to unsubscribe from (the driver may
have more than one interface).
@returns Returns 0 on success. */
-virtual int Unsubscribe(QueuePointer queue, player_devaddr_t addr)
{return 1;};
+virtual int Unsubscribe(QueuePointer /*queue*/, player_devaddr_t
/*addr*/) {return 1;};
/** @brief Terminate the driver.
Modified: code/player/trunk/libplayercore/property.cpp
===
--- code/player/trunk/libplayercore/property.cpp2012-01-01 03:47:04 UTC
(rev 9087)
+++ code/player/trunk/libplayercore/property.cpp2012-01-04 22:18:25 UTC
(rev 9088)
@@ -85,7 +85,7 @@
}
}
-const bool Property::KeyIsEqual (const char *rhs)
+bool Property::KeyIsEqual (const char *rhs)
{
if (!strcmp (key, rhs))
return true;
Modified: code/player/trunk/libplayercore/property.h
===
--- code/player/trunk/libplayercore/property.h 2012-01-01 03:47:04 UTC (rev
9087)
+++ code/player/trunk/libplayercore/property.h 2012-01-04 22:18:25 UTC (rev
9088)
@@ -69,7 +69,7 @@
virtual void GetValueToMessage (void *data) const = 0;
virtual void SetValueFromMessage (const void *data) = 0;
- virtual const bool KeyIsEqual (const char *rhs);
+ virtual bool KeyIsEqual (const char *rhs);
// Config file read method
virtual bool ReadConfig (ConfigFile *cf, int section) = 0;
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[Playerstage-commit] SF.net SVN: playerstage:[9082] www/player-www
Revision: 9082 http://playerstage.svn.sourceforge.net/playerstage/?rev=9082view=rev Author: natepak Date: 2011-12-08 19:17:41 + (Thu, 08 Dec 2011) Log Message: --- Updated gazebo href links Modified Paths: -- www/player-www/developers.src www/player-www/gazebo.src Modified: www/player-www/developers.src === --- www/player-www/developers.src 2011-11-24 17:40:04 UTC (rev 9081) +++ www/player-www/developers.src 2011-12-08 19:17:41 UTC (rev 9082) @@ -65,7 +65,7 @@ libNate Koenig/b ul - libusername:/b natepack + libusername:/b natepak librole(s):/b project maintainer, Gazebo lead libdirectories/b: ul Modified: www/player-www/gazebo.src === --- www/player-www/gazebo.src 2011-11-24 17:40:04 UTC (rev 9081) +++ www/player-www/gazebo.src 2011-12-08 19:17:41 UTC (rev 9082) @@ -1,194 +1 @@ - -img width=140 src=images/gazebo_button.png alt=Gazebo piecebr -p style=margin-top:0;3D multiple robot simulator with dynamics - -hr - - -h3About Gazebo/h3 - -pGazebo is a multi-robot simulator for outdoor environments. Like -Stage, it is capable of simulating a population of robots, sensors and -objects, but does so in a three-dimensional world. It generates both -realistic sensor feedback and physically plausible interactions -between objects (it includes an accurate simulation of rigid-body -physics)./p - -pFeatures:/p -ul -liSimulation of standard robot sensors, including sonar, scanning -laser range-finders, GPS and IMU, monocular and stereo cameras. -liModels for commonly used robot types such as the Pioneer2DX, -Pioneer2AT and SegwayRMP. -liRealistic simulation of rigid-body physics: robots can push things -around, pick things up, and generally interact with the world in a -plausible manner. -liPlayer compatible: robots and sensors can be controlled through -standard Player interfaces. -liStand-alone operation: programs can interact directly with the -simulator (i.e., without going through Player) using ttlibgazebo/tt -(included in the distribution). - -libNew/b Stereo camera model: generates stereo image -pairs, disparity and depth maps. - -libNew/b Completely re-written GUI using wxPython: most -devices can now be directly controlled/inspected through the simulator -GUI. - -libNew/b Plugin models: users can develop their own -robot/sensor models, and have these models loaded dynamically at run -time. - -libNew/b Skins: simple geometric models may be augmented -with realisitc 'skins' from 3D modelling programs. - -liGazebo is free software, released under the GNU Public License. -You are free to use, extend and modify Gazebo according to your needs, -but we would appreciate it if you would a -href=http://sourceforge.net/tracker/?group_id=42445;send us your -patch/a. -/ul - -br Gazebo can be downloaded from the -a href=http://sourceforge.net/project/showfiles.php?group_id=42445;SourceForge -Download Page/a. - - -h3Stage and Gazebo/h3 - -p The Player/Stage project provides two multi-robot simulators: -Stage and Gazebo. Since Stage and Gazebo are both Player-compatible, -client programs written using one simulator can usually be run on the -other with little or no modification. The key difference between -these two simulators is that whereas Stage is designed to simulate a -very large robot population with low fidelity, Gazebo is designed to -simulated a small population with high fidelity. Thus, the two -simulator are complimentary, and users may switch back and forth -between them according to their needs. /p - - -h3Screen Shots/h3 - -div align=center - -table -tr -tda href=gazebo/gazebo_at.gifimg src=images/gazebo_at.gif alt=gazebo_at -height=150/a/td -tda href=images/gazebo_at_frustrum.gifimg -src=images/gazebo_at_frustrum.gif alt=gazebo_at_frustrum height=150/a/td -tda href=images/gazebo_at_rays.gifimg src=images/gazebo_at_rays.gif alt=gazebo_at_rays height=150/a/td -tda href=images/gazebo_at_wireframe.gifimg src=images/gazebo_at_wireframe.gif alt=gazebo_at_wireframe height=150/a/td -/tr -tr -td colspan=4 -pPioneer2AT with a SICKLMS200 and SonyVID30, showing both laser rays and -camera frustrum. -/td -/tr -/table - -br -table -tr -tda href=images/wxgazebo.gifimg src=images/wxgazebo.gif alt=wxgazebo height=300/a/td -/tr -tr -td -pThe wxPython GUI, showing a number of control panels. -/td -/tr -/table - -br -table -tr -tda href=images/gazebo_car_naked.gifimg src=images/gazebo_car_naked.gif alt=gazebo_car_naked height=150/a/td -tda href=images/gazebo_car_skin.gifimg src=images/gazebo_car_skin.gif alt=gazebo_car_skin height=150/a/td -/tr -tr -td colspan=2 -pModels with and without skins. -/td -/tr -/table - -/div - -h3Sample Videos/h3 - -p -center -bThese videos may not be used for commercial or for-profit purposes. They are -copyrighted by the authors./b -/center -/p - -div align=center - -table
[Playerstage-commit] SF.net SVN: playerstage:[9083] code/gazebo/
Revision: 9083 http://playerstage.svn.sourceforge.net/playerstage/?rev=9083view=rev Author: natepak Date: 2011-12-08 19:21:46 + (Thu, 08 Dec 2011) Log Message: --- Removed gazebo Removed Paths: - code/gazebo/ This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- Cloud Services Checklist: Pricing and Packaging Optimization This white paper is intended to serve as a reference, checklist and point of discussion for anyone considering optimizing the pricing and packaging model of a cloud services business. Read Now! http://www.accelacomm.com/jaw/sfnl/114/51491232/ ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[9028] code/gazebo/trunk/plugins
Revision: 9028
http://playerstage.svn.sourceforge.net/playerstage/?rev=9028view=rev
Author: natepak
Date: 2011-01-21 18:26:33 + (Fri, 21 Jan 2011)
Log Message:
---
Latest changes to plugins
Modified Paths:
--
code/gazebo/trunk/plugins/CMakeLists.txt
code/gazebo/trunk/plugins/ball_drop.cc
Modified: code/gazebo/trunk/plugins/CMakeLists.txt
===
--- code/gazebo/trunk/plugins/CMakeLists.txt2011-01-18 17:23:26 UTC (rev
9027)
+++ code/gazebo/trunk/plugins/CMakeLists.txt2011-01-21 18:26:33 UTC (rev
9028)
@@ -26,7 +26,7 @@
foreach (src ${plugins})
- set_source_files_properties(${src}.cc PROPERTIES COMPILE_FLAGS
${GAZEBO_CFLAGS})
+ #set_source_files_properties(${src}.cc PROPERTIES COMPILE_FLAGS
${GAZEBO_CFLAGS})
add_library(${src} SHARED ${src}.cc)
target_link_libraries(${src} gazebo ${GAZEBO_LINK_LIBS} )
set_target_properties(${src} PROPERTIES SKIP_BUILD_RPATH TRUE)
Modified: code/gazebo/trunk/plugins/ball_drop.cc
===
--- code/gazebo/trunk/plugins/ball_drop.cc 2011-01-18 17:23:26 UTC (rev
9027)
+++ code/gazebo/trunk/plugins/ball_drop.cc 2011-01-21 18:26:33 UTC (rev
9028)
@@ -43,7 +43,7 @@
if (LOG)
fclose(this-indexFile);
- World::Instance()-DisconnectWorldUpdateStartSignal(
+ Events::DisconnectWorldUpdateStartSignal(
boost::bind(BallDrop::UpdateCB, this));
/*for (unsigned int i=0; i this-sphere-GetChildCount(); i++)
@@ -106,7 +106,7 @@
this-physics-SetStepTime( *this-stepTimesIter );
this-physics-SetSORPGSIters( *this-stepItersIter );
- World::Instance()-ConnectWorldUpdateStartSignal(
+ Events::ConnectWorldUpdateStartSignal(
boost::bind(BallDrop::UpdateCB, this));
}
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[Playerstage-commit] SF.net SVN: playerstage:[9029] code/gazebo/branches/wx/
Revision: 9029 http://playerstage.svn.sourceforge.net/playerstage/?rev=9029view=rev Author: natepak Date: 2011-01-21 18:27:08 + (Fri, 21 Jan 2011) Log Message: --- Removing an old branch Removed Paths: - code/gazebo/branches/wx/ This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- Special Offer-- Download ArcSight Logger for FREE (a $49 USD value)! Finally, a world-class log management solution at an even better price-free! Download using promo code Free_Logger_4_Dev2Dev. Offer expires February 28th, so secure your free ArcSight Logger TODAY! http://p.sf.net/sfu/arcsight-sfd2d ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[9030] code/gazebo/branches/tbb/
Revision: 9030 http://playerstage.svn.sourceforge.net/playerstage/?rev=9030view=rev Author: natepak Date: 2011-01-21 18:28:04 + (Fri, 21 Jan 2011) Log Message: --- removing an old branch Removed Paths: - code/gazebo/branches/tbb/ This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- Special Offer-- Download ArcSight Logger for FREE (a $49 USD value)! Finally, a world-class log management solution at an even better price-free! Download using promo code Free_Logger_4_Dev2Dev. Offer expires February 28th, so secure your free ArcSight Logger TODAY! http://p.sf.net/sfu/arcsight-sfd2d ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[9022] code/gazebo/branches/dev/worlds
Revision: 9022 http://playerstage.svn.sourceforge.net/playerstage/?rev=9022view=rev Author: natepak Date: 2011-01-17 23:59:54 + (Mon, 17 Jan 2011) Log Message: --- Added directory for new world format Added Paths: --- code/gazebo/branches/dev/worlds/new/ code/gazebo/branches/dev/worlds/new/empty.world Added: code/gazebo/branches/dev/worlds/new/empty.world === --- code/gazebo/branches/dev/worlds/new/empty.world (rev 0) +++ code/gazebo/branches/dev/worlds/new/empty.world 2011-01-17 23:59:54 UTC (rev 9022) @@ -0,0 +1,114 @@ +?xml version=1.0? +gazebo + config +verbosity4/verbosity + +gui + size800 600/size + pos0 0/pos +/gui + +rendering + ambient.2 .2 .2 1/ambient + shadowstrue/shadows + gridfalse/grid +/rendering + /config + + world name=default +physics type=ode + stepTime0.001/stepTime + gravity0 0 -9.8/gravity + cfm0.01/cfm + erp0.2/erp + + stepTypequick/stepType + stepIters10/stepIters + stepW1.3/stepW + contactMaxCorrectingVel100.0/contactMaxCorrectingVel + contactSurfaceLayer0.0/contactSurfaceLayer +/physics + +!-- Ground Plane -- +model type=physical name=plane1_model + xyz0 0 0/xyz + rpy0 0 0/rpy + statictrue/static + body name=plane1_body +geom type=plane name=plane1_geom + normal0 0 1/normal + mu110.0/mu1 + mu21000.0/mu2 + + size100 100/size + meshunit_plane/mesh + materialGazebo/GreyGrid/material + uvTile100 100/uvTile +/geom + /body +/model + +model type=physical name=box_model + xyz0 0 1.5/xyz + staticfalse/static + body name=body +geom type=box name=geom + size1 1 1/size + mass1.0/mass + visual +size1 1 1/size +meshunit_box/mesh +materialGazebo/Red/material + /visual +/geom + /body +/model + +model type=physical name=sphere_model + xyz0 1.5 3.5/xyz + staticfalse/static + body name=body +geom type=box name=geom + size0.5/size + mass1.0/mass + visual +size1 1 1/size +meshunit_sphere/mesh +materialGazebo/Blue/material + /visual +/geom + /body +/model + +model type=physical name=cylinder_model + xyz0 -1.5 1.5/xyz + staticfalse/static + body name=body +geom type=box name=geom + size0.5 1.0/size + mass1.0/mass + visual +size0.5 0.5 1/size +meshunit_cylinder/mesh +materialGazebo/Green/material + /visual +/geom + /body +/model + +!-- White Point light -- +light name=point_white + xyz0.0 0 10/xyz + rpy0 0 0/rpy + typepoint/type + diffuseColor0.4 0.4 0.4 1.0/diffuseColor + specularColor.1 .1 .1 1.0/specularColor + attenuation.2 0.1 0.0/attenuation + range20/range + direction0 0 -1.0/direction + castShadowstrue/castShadows +/light + + /world + +/gazebo This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- Protect Your Site and Customers from Malware Attacks Learn about various malware tactics and how to avoid them. Understand malware threats, the impact they can have on your business, and how you can protect your company and customers by using code signing. http://p.sf.net/sfu/oracle-sfdevnl ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[9026] code/gazebo/branches/dev/server
Revision: 9026
http://playerstage.svn.sourceforge.net/playerstage/?rev=9026view=rev
Author: natepak
Date: 2011-01-18 05:31:59 + (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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[Playerstage-commit] SF.net SVN: playerstage:[9016] code/gazebo/branches/dev/server
Revision: 9016
http://playerstage.svn.sourceforge.net/playerstage/?rev=9016view=rev
Author: natepak
Date: 2011-01-10 23:52:19 + (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
[Playerstage-commit] SF.net SVN: playerstage:[9012] code/gazebo/branches/dev/server/rendering
Revision: 9012
http://playerstage.svn.sourceforge.net/playerstage/?rev=9012view=rev
Author: natepak
Date: 2010-12-14 14:35:25 + (Tue, 14 Dec 2010)
Log Message:
---
Updates
Removed Paths:
-
code/gazebo/branches/dev/server/rendering/OgreCreator.cc
code/gazebo/branches/dev/server/rendering/OgreCreator.hh
Deleted: code/gazebo/branches/dev/server/rendering/OgreCreator.cc
===
--- code/gazebo/branches/dev/server/rendering/OgreCreator.cc2010-12-14
14:33:40 UTC (rev 9011)
+++ code/gazebo/branches/dev/server/rendering/OgreCreator.cc2010-12-14
14:35:25 UTC (rev 9012)
@@ -1,642 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-/* Desc: Some functions that creates Ogre objects together
- * Author: Jordi Polo
- * Date: 27 Dec 2007
- */
-
-#include Ogre.h
-
-#include math.h
-#include iostream
-#include X11/Xlib.h
-#include X11/Xutil.h
-
-#include gazebo_config.h
-
-#include RTShaderSystem.hh
-#include RenderControl.hh
-#include Light.hh
-#include Material.hh
-#include Simulator.hh
-#include Global.hh
-#include Entity.hh
-#include XMLConfig.hh
-#include GazeboError.hh
-#include GazeboMessage.hh
-#include OgreMovableText.hh
-#include OgreAdaptor.hh
-#include Visual.hh
-#include OgreDynamicLines.hh
-#include OgreCreator.hh
-
-using namespace gazebo;
-
-
-// Constructor
-OgreCreator::OgreCreator()
-{
-}
-
-
-// Destructor
-OgreCreator::~OgreCreator()
-{
-}
-
-
-// Create a plane
-/*std::string OgreCreator::CreatePlane(const Vector3 normal,
-const Vector2double size, const Vector2double segments,
-const Vector2double uvTile, const std::string name)
-{
- if (!Simulator::Instance()-GetRenderEngineEnabled())
-return std::string();
-
- Vector3 n = normal;
- std::string resultName;
-
- n.Normalize();
- Vector3 perp = n.GetPerpendicular();
-
- Ogre::Plane plane(Ogre::Vector3(n.x, n.y, n.z), 0);
-
- resultName = name;
- while (!Ogre::MeshManager::getSingleton().getByName(resultName).isNull())
-resultName += A;
-
- try
- {
-Ogre::MeshManager::getSingleton().createPlane(resultName,
-Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, plane,
-size.x, size.y,
-(int)segments.x, (int)segments.y,
-true,1,
-uvTile.x, uvTile.y,
-Ogre::Vector3(perp.x, perp.y, perp.z));
- }
- catch (Ogre::ItemIdentityException e)
- {
-std::cerr Error creating plane\n;
- }
-
- return resultName;
-}*/
-
-
-/// Remove a mesh by name
-void OgreCreator::RemoveMesh(const std::string name)
-{
- if (!Simulator::Instance()-GetRenderEngineEnabled())
-return;
-
- if (!name.empty() Ogre::MeshManager::getSingleton().resourceExists(name))
-Ogre::MeshManager::getSingleton().remove(name);
-}
-
-
-// Create a window for Ogre
-/*Ogre::RenderWindow *OgreCreator::CreateWindow(RenderControl *wxWindow,
unsigned int width, unsigned int height)
-{
- if (!Simulator::Instance()-GetRenderEngineEnabled())
-return NULL;
-
- Ogre::RenderWindow *win = NULL;
-
- if (wxWindow)
- {
-//XSync(fl_display, false);
-win = OgreCreator::CreateWindow( wxWindow-GetOgreHandle(), width, height);
-
-if (win)
- this-windows.push_back(win);
- }
-
- return win;
-}
-
-
-// Create a window for Ogre
-Ogre::RenderWindow *OgreCreator::CreateWindow( const std::string ogreHandle,
- unsigned int width,
unsigned int height)
-{
- if (!Simulator::Instance()-GetRenderEngineEnabled())
-return NULL;
-
- Ogre::StringVector paramsVector;
- Ogre::NameValuePairList params;
- Ogre
[Playerstage-commit] SF.net SVN: playerstage:[9003] code/gazebo/branches/dev/server
Revision: 9003
http://playerstage.svn.sourceforge.net/playerstage/?rev=9003view=rev
Author: natepak
Date: 2010-12-06 05:23:17 + (Mon, 06 Dec 2010)
Log Message:
---
Fixes
Modified Paths:
--
code/gazebo/branches/dev/server/Matrix4.cc
code/gazebo/branches/dev/server/Matrix4.hh
code/gazebo/branches/dev/server/MeshManager.cc
code/gazebo/branches/dev/server/MeshManager.hh
code/gazebo/branches/dev/server/rendering/Visual.cc
Modified: code/gazebo/branches/dev/server/Matrix4.cc
===
--- code/gazebo/branches/dev/server/Matrix4.cc 2010-12-04 02:43:10 UTC (rev
9002)
+++ code/gazebo/branches/dev/server/Matrix4.cc 2010-12-06 05:23:17 UTC (rev
9003)
@@ -6,16 +6,16 @@
using namespace gazebo;
const Matrix4 Matrix4::IDENTITY(
- 1, 0, 0, 0,
- 0, 1, 0, 0,
- 0, 0, 1, 0,
- 0, 0, 0, 1 );
+ 1.0, 0.0, 0.0, 0.0,
+ 0.0, 1.0, 0.0, 0.0,
+ 0.0, 0.0, 1.0, 0.0,
+ 0.0, 0.0, 0.0, 1.0 );
const Matrix4 Matrix4::ZERO(
- 0, 0, 0, 0,
- 0, 0, 0, 0,
- 0, 0, 0, 0,
- 0, 0, 0, 0 );
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0 );
@@ -53,6 +53,11 @@
this-m[2][1] = v21;
this-m[2][2] = v22;
this-m[2][3] = v23;
+
+ this-m[3][0] = v30;
+ this-m[3][1] = v31;
+ this-m[3][2] = v32;
+ this-m[3][3] = v33;
}
@@ -137,7 +142,10 @@
Vector3 Matrix4::TransformAffine( const Vector3 v ) const
{
if (!this-IsAffine())
+ {
+std::cout \n *this ***\n;
gzthrow(Not and affine matrix);
+ }
return Vector3(
this-m[0][0]*v.x + this-m[0][1]*v.y + this-m[0][2]*v.z +
this-m[0][3],
Modified: code/gazebo/branches/dev/server/Matrix4.hh
===
--- code/gazebo/branches/dev/server/Matrix4.hh 2010-12-04 02:43:10 UTC (rev
9002)
+++ code/gazebo/branches/dev/server/Matrix4.hh 2010-12-06 05:23:17 UTC (rev
9003)
@@ -39,6 +39,8 @@
}
out \n;
}
+
+return out;
}
public: static const Matrix4 IDENTITY;
Modified: code/gazebo/branches/dev/server/MeshManager.cc
===
--- code/gazebo/branches/dev/server/MeshManager.cc 2010-12-04 02:43:10 UTC
(rev 9002)
+++ code/gazebo/branches/dev/server/MeshManager.cc 2010-12-06 05:23:17 UTC
(rev 9003)
@@ -314,6 +314,8 @@
mesh-SetName(name);
this-meshes.insert( std::make_pair(name, mesh) );
+ std::cout Plane Name[ name ]\n;
+
SubMesh *subMesh = new SubMesh();
mesh-AddSubMesh(subMesh);
@@ -326,13 +328,11 @@
Matrix4 xlate, xform, rot;
xlate = rot = Matrix4::IDENTITY;
- std::cout xlate \n;
-
Matrix3 rot3;
rot3.SetFromAxes(xAxis, yAxis, zAxis);
rot = rot3;
-
+
xlate.SetTrans( normal * -d );
xform = xlate * rot;
@@ -345,9 +345,9 @@
double xTex = uvTile.x / segments.x;
double yTex = uvTile.y / segments.y;
- for (int y = 0; y segments.y; y++)
+ for (int y = 0; y = segments.y; y++)
{
-for (int x = 0; x segments.x; x++)
+for (int x = 0; x = segments.x; x++)
{
// Compute the position of the vertex
vec.x = (x * xSpace) - halfWidth;
@@ -356,6 +356,8 @@
vec = xform.TransformAffine(vec);
subMesh-AddVertex(vec);
+ std::cout Vec[ vec ]\n;
+
// Compute the normal
vec = xform.TransformAffine(norm);
subMesh-AddNormal(vec);
@@ -364,6 +366,8 @@
subMesh-AddTexCoord(x * xTex, 1 - (y * yTex));
}
}
+
+ this-Tesselate2DMesh( subMesh, segments.x + 1, segments.y + 1, false );
}
@@ -905,3 +909,70 @@
mesh-RecalculateNormals();
}
+void MeshManager::Tesselate2DMesh(SubMesh *sm, int meshWidth, int meshHeight,
+ bool doubleSided)
+{
+ int vInc, uInc, v, u, iterations;
+ int vCount, uCount;
+
+ if (doubleSided)
+ {
+iterations = 2;
+vInc = 1;
+v = 0; // Start with the front
+ }
+ else
+ {
+iterations = 1;
+vInc = 1;
+v = 0;
+ }
+
+ int v1, v2, v3;
+
+ while (iterations--)
+ {
+// Make tris in a zigzag pattern (compatible with strips)
+u = 0;
+uInc = 1; // Start with moving +u
+
+vCount = meshHeight - 1;
+while (vCount--)
+{
+ uCount = meshWidth - 1;
+ while (uCount--)
+ {
+// First tri in cell
+v1 = ((v + vInc) * meshWidth) + u;
+v2 = (v * meshWidth) + u;
+v3 = ((v + vInc) * meshWidth) + (u + uInc);
+// Output indexes
+sm-AddIndex(v1);
+sm-AddIndex(v2);
+sm-AddIndex(v3);
+std::cout
[Playerstage-commit] SF.net SVN: playerstage:[9002] code/gazebo/branches/dev/server
Revision: 9002
http://playerstage.svn.sourceforge.net/playerstage/?rev=9002view=rev
Author: natepak
Date: 2010-12-04 02:43:10 + (Sat, 04 Dec 2010)
Log Message:
---
Added matrix files
Added Paths:
---
code/gazebo/branches/dev/server/Matrix3.cc
code/gazebo/branches/dev/server/Matrix3.hh
code/gazebo/branches/dev/server/Matrix4.cc
code/gazebo/branches/dev/server/Matrix4.hh
code/gazebo/branches/dev/server/Messages.cc
code/gazebo/branches/dev/server/Plane.cc
code/gazebo/branches/dev/server/Plane.hh
Added: code/gazebo/branches/dev/server/Matrix3.cc
===
--- code/gazebo/branches/dev/server/Matrix3.cc (rev 0)
+++ code/gazebo/branches/dev/server/Matrix3.cc 2010-12-04 02:43:10 UTC (rev
9002)
@@ -0,0 +1,67 @@
+#include string.h
+
+#include GazeboError.hh
+#include Matrix3.hh
+
+using namespace gazebo;
+
+
+// Constructor
+Matrix3::Matrix3()
+{
+ memset(this-m, 0, sizeof(double)*9);
+}
+
+
+// Constructor
+Matrix3::Matrix3(const Matrix3 m)
+{
+ memcpy(this-m, m.m, sizeof(double)*9);
+}
+
+
+// Constructor
+Matrix3::Matrix3(double v00, double v01, double v02,
+double v10, double v11, double v12,
+double v20, double v21, double v22)
+{
+ this-m[0][0] = v00;
+ this-m[0][1] = v01;
+ this-m[0][2] = v02;
+ this-m[1][0] = v10;
+ this-m[1][1] = v11;
+ this-m[1][2] = v12;
+ this-m[2][0] = v20;
+ this-m[2][1] = v21;
+ this-m[2][2] = v22;
+}
+
+
+
+// Destructor
+Matrix3::~Matrix3()
+{
+}
+
+
+// Set from axes
+void Matrix3::SetFromAxes(const Vector3 xAxis, const Vector3 yAxis,
+ const Vector3 zAxis)
+{
+ this-SetCol(0, xAxis);
+ this-SetCol(1, yAxis);
+ this-SetCol(2, zAxis);
+}
+
+
+
+/// Set a column
+void Matrix3::SetCol(unsigned int i, const Vector3 v)
+{
+ if (i = 3)
+gzthrow(Invalid column number);
+
+ m[0][i] = v.x;
+ m[1][i] = v.y;
+ m[2][i] = v.z;
+}
Added: code/gazebo/branches/dev/server/Matrix3.hh
===
--- code/gazebo/branches/dev/server/Matrix3.hh (rev 0)
+++ code/gazebo/branches/dev/server/Matrix3.hh 2010-12-04 02:43:10 UTC (rev
9002)
@@ -0,0 +1,28 @@
+#ifndef MATRIX3_HH
+#define MATRIX3_HH
+
+#include Vector3.hh
+
+namespace gazebo
+{
+ class Matrix3
+ {
+public: Matrix3();
+public: Matrix3(const Matrix3 m);
+public: Matrix3(double v00, double v01, double v02,
+double v10, double v11, double v12,
+double v20, double v21, double v22);
+
+public: virtual ~Matrix3();
+
+public: void SetFromAxes(const Vector3 xAxis, const Vector3 yAxis,
+ const Vector3 zAxis);
+
+/// Set a column
+public: void SetCol(unsigned int i, const Vector3 v);
+
+protected: double m[3][3];
+friend class Matrix4;
+ };
+}
+#endif
Added: code/gazebo/branches/dev/server/Matrix4.cc
===
--- code/gazebo/branches/dev/server/Matrix4.cc (rev 0)
+++ code/gazebo/branches/dev/server/Matrix4.cc 2010-12-04 02:43:10 UTC (rev
9002)
@@ -0,0 +1,147 @@
+#include string.h
+
+#include GazeboError.hh
+#include Matrix4.hh
+
+using namespace gazebo;
+
+const Matrix4 Matrix4::IDENTITY(
+ 1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1 );
+
+const Matrix4 Matrix4::ZERO(
+ 0, 0, 0, 0,
+ 0, 0, 0, 0,
+ 0, 0, 0, 0,
+ 0, 0, 0, 0 );
+
+
+
+// Default constructor
+Matrix4::Matrix4()
+{
+ memset(this-m, 0, sizeof(double)*16);
+}
+
+
+// Copy constructor
+Matrix4::Matrix4(const Matrix4 m)
+{
+ memcpy(this-m, m.m, sizeof(double)*16);
+}
+
+
+// Constructor
+Matrix4::Matrix4(double v00, double v01, double v02, double v03,
+ double v10, double v11, double v12, double v13,
+ double v20, double v21, double v22, double v23,
+ double v30, double v31, double v32, double v33)
+{
+ this-m[0][0] = v00;
+ this-m[0][1] = v01;
+ this-m[0][2] = v02;
+ this-m[0][3] = v03;
+
+ this-m[1][0] = v10;
+ this-m[1][1] = v11;
+ this-m[1][2] = v12;
+ this-m[1][3
[Playerstage-commit] SF.net SVN: playerstage:[8986] code/gazebo/branches/dev
Revision: 8986
http://playerstage.svn.sourceforge.net/playerstage/?rev=8986view=rev
Author: natepak
Date: 2010-11-29 22:49:26 + (Mon, 29 Nov 2010)
Log Message:
---
More bug fixes
Modified Paths:
--
code/gazebo/branches/dev/Media/materials/scripts/Gazebo.material
code/gazebo/branches/dev/server/CMakeLists.txt
code/gazebo/branches/dev/server/Quatern.hh
code/gazebo/branches/dev/server/Simulator.cc
code/gazebo/branches/dev/server/Simulator.hh
code/gazebo/branches/dev/server/World.cc
code/gazebo/branches/dev/server/World.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/rendering/Visual.cc
code/gazebo/branches/dev/server/rendering/Visual.hh
code/gazebo/branches/dev/server/rendering/WindowManager.cc
code/gazebo/branches/dev/server/wx/BoxMaker.cc
code/gazebo/branches/dev/server/wx/RenderControl.cc
Modified: code/gazebo/branches/dev/Media/materials/scripts/Gazebo.material
===
--- code/gazebo/branches/dev/Media/materials/scripts/Gazebo.material
2010-11-29 05:34:15 UTC (rev 8985)
+++ code/gazebo/branches/dev/Media/materials/scripts/Gazebo.material
2010-11-29 22:49:26 UTC (rev 8986)
@@ -271,6 +271,25 @@
}
}
+material Gazebo/TurquoiseGlowOutline : Gazebo/Turquoise
+{
+ technique
+ {
+pass ambient
+{
+ ambient 0 1 1
+ polygon_mode wireframe
+}
+
+ pass light
+ {
+ emissive 0 1 1
+ diffuse 0 1 1
+ polygon_mode wireframe
+ }
+ }
+}
+
material Gazebo/RedTransparent
{
technique
Modified: code/gazebo/branches/dev/server/CMakeLists.txt
===
--- code/gazebo/branches/dev/server/CMakeLists.txt 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/CMakeLists.txt 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -132,6 +132,7 @@
STLLoader.hh
Events.hh
Plugin.hh
+ Messages.hh
)
APPEND_TO_SERVER_HEADERS(${headers})
Modified: code/gazebo/branches/dev/server/Quatern.hh
===
--- code/gazebo/branches/dev/server/Quatern.hh 2010-11-29 05:34:15 UTC (rev
8985)
+++ code/gazebo/branches/dev/server/Quatern.hh 2010-11-29 22:49:26 UTC (rev
8986)
@@ -100,7 +100,7 @@
public: static Quatern EulerToQuatern( const Vector3 vec );
/// \brief Convert euler angles to quatern.
- public: Quatern EulerToQuatern( double x, double y, double z);
+ public: static Quatern EulerToQuatern( double x, double y, double z);
/// \brief Get the Euler roll angle in radians
public: double GetRoll();
Modified: code/gazebo/branches/dev/server/Simulator.cc
===
--- code/gazebo/branches/dev/server/Simulator.cc2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/Simulator.cc2010-11-29 22:49:26 UTC
(rev 8986)
@@ -30,6 +30,7 @@
#include boost/bind.hpp
#include boost/thread/recursive_mutex.hpp
+#include Messages.hh
#include RenderState.hh
#include PhysicsFactory.hh
#include gazebo_config.h
@@ -634,3 +635,11 @@
}
}
}
+
+
+/// Send a message
+void Simulator::SendMessage( const Message message )
+{
+ for (unsigned int i=0; i this-worlds.size(); i++)
+this-worlds[i]-ReceiveMessage( message );
+}
Modified: code/gazebo/branches/dev/server/Simulator.hh
===
--- code/gazebo/branches/dev/server/Simulator.hh2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/Simulator.hh2010-11-29 22:49:26 UTC
(rev 8986)
@@ -56,6 +56,7 @@
class Model;
class World;
class Plugin;
+ class Message;
/// \brief The World
/*
@@ -155,6 +156,9 @@
/// \brief Remove a plugin
public: void RemovePlugin(const std::string plugin);
+
+ /// \brief Send a message
+ public: void SendMessage( const Message message );
/// \brief Function to run gui. Used by guiThread
private: void PhysicsLoop();
@@ -199,7 +203,7 @@
private: unsigned int activeWorldIndex;
private: std::vectorPlugin* plugins;
-
+
//Singleton implementation
private: friend class DestroyerTSimulator;
private: friend class SingletonTSimulator;
Modified: code/gazebo/branches/dev/server/World.cc
===
--- code/gazebo/branches/dev/server/World.cc2010-11-29 05:34:15 UTC (rev
8985)
+++ code/gazebo/branches/dev/server/World.cc2010-11-29 22:49:26
[Playerstage-commit] SF.net SVN: playerstage:[8987] code/gazebo/branches/dev/server/Messages.hh
Revision: 8987
http://playerstage.svn.sourceforge.net/playerstage/?rev=8987view=rev
Author: natepak
Date: 2010-11-29 23:05:26 + (Mon, 29 Nov 2010)
Log Message:
---
Added messages
Added Paths:
---
code/gazebo/branches/dev/server/Messages.hh
Added: code/gazebo/branches/dev/server/Messages.hh
===
--- code/gazebo/branches/dev/server/Messages.hh (rev 0)
+++ code/gazebo/branches/dev/server/Messages.hh 2010-11-29 23:05:26 UTC (rev
8987)
@@ -0,0 +1,62 @@
+#ifndef MESSAGES_HH
+#define MESSAGES_HH
+
+#include Time.hh
+#include Pose3d.hh
+
+namespace gazebo
+{
+ enum MessageType{ INSERT_MODEL };
+
+ class Message
+ {
+public: Message(MessageType t) : type(t), stamp(Time::GetWallTime()) {}
+public: Message(const Message m) : type(m.type), stamp(m.stamp) {}
+
+public: virtual Message *Clone() const { return new Message(*this); }
+
+public: MessageType type;
+public: Time stamp;
+ };
+
+ class InsertModelMsg : public Message
+ {
+public: InsertModelMsg() : Message(INSERT_MODEL) {}
+public: InsertModelMsg(const InsertModelMsg m) : Message(m),
+xmlStr(m.xmlStr) {}
+public: virtual Message *Clone() const
+{ InsertModelMsg *msg = new InsertModelMsg(*this); return msg; }
+public: std::string xmlStr;
+ };
+
+ class InsertVisualMsg : public Message
+ {
+public: InsertVisualMsg() : Message(INSERT_VISUAL) {}
+public: InsertVisualMsg(const InsertVisualMsg m) : Message(m),
+xmlStr(m.xmlStr) {}
+public: virtual Message *Clone() const
+{ InsertVisualMsg *msg = new InsertVisualMsg(*this); return msg; }
+
+public: std::string parentId;
+public: std::string id;
+public: std::string mesh;
+public: std::string material;
+public: bool castShadows;
+public: bool attachAxes;
+public: bool visible;
+ };
+
+ class UpdatePoseMsg : public Message
+ {
+public: UpdatePoseMsg() : Message(UPDATE_POSE), id(0) {}
+public: UpdatePoseMsg(const UpdatePoseMsg m) : Message(m),
+id(m.id), pose(m.pose) {}
+public: virtual Message *Clone() const
+{ UpdatePoseMsg *msg = new UpdatePoseMsg(*this); return msg; }
+
+public: std::string id;
+public: Pose3d pose;
+ };
+}
+
+#endif
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[Playerstage-commit] SF.net SVN: playerstage:[8988] code/gazebo/branches/dev/server
Revision: 8988
http://playerstage.svn.sourceforge.net/playerstage/?rev=8988view=rev
Author: natepak
Date: 2010-11-30 02:29:38 + (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::vectorVisual*::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
[Playerstage-commit] SF.net SVN: playerstage:[8985] code/gazebo/branches/dev/server
Revision: 8985
http://playerstage.svn.sourceforge.net/playerstage/?rev=8985view=rev
Author: natepak
Date: 2010-11-29 05:34:15 + (Mon, 29 Nov 2010)
Log Message:
---
Updates to camera and windows
Modified Paths:
--
code/gazebo/branches/dev/server/Quatern.cc
code/gazebo/branches/dev/server/Quatern.hh
code/gazebo/branches/dev/server/World.cc
code/gazebo/branches/dev/server/rendering/Camera.cc
code/gazebo/branches/dev/server/rendering/Scene.cc
code/gazebo/branches/dev/server/rendering/UserCamera.cc
code/gazebo/branches/dev/server/rendering/WindowManager.cc
code/gazebo/branches/dev/server/rendering/WindowManager.hh
code/gazebo/branches/dev/server/wx/RenderControl.cc
code/gazebo/branches/dev/server/wx/RenderPanel.cc
code/gazebo/branches/dev/server/wx/RenderPanel.hh
code/gazebo/branches/dev/server/wx/SimulationFrame.cc
code/gazebo/branches/dev/server/wx/TimePanel.cc
code/gazebo/branches/dev/server/wx/TimePanel.hh
Modified: code/gazebo/branches/dev/server/Quatern.cc
===
--- code/gazebo/branches/dev/server/Quatern.cc 2010-11-28 17:45:54 UTC (rev
8984)
+++ code/gazebo/branches/dev/server/Quatern.cc 2010-11-29 05:34:15 UTC (rev
8985)
@@ -232,6 +232,22 @@
}
+/// Convert euler angles to quatern.
+Quatern Quatern::EulerToQuatern( const Vector3 vec )
+{
+ Quatern result;
+ result.SetFromEuler(vec);
+ return result;
+}
+
+
+/// Convert euler angles to quatern.
+Quatern Quatern::EulerToQuatern( double x, double y, double z)
+{
+ return EulerToQuatern( Vector3(x,y,z) );
+}
+
+
/// \brief Get the Euler roll angle in radians
double Quatern::GetRoll()
{
Modified: code/gazebo/branches/dev/server/Quatern.hh
===
--- code/gazebo/branches/dev/server/Quatern.hh 2010-11-28 17:45:54 UTC (rev
8984)
+++ code/gazebo/branches/dev/server/Quatern.hh 2010-11-29 05:34:15 UTC (rev
8985)
@@ -96,6 +96,12 @@
/// \return This quaternion as an Euler vector
public: Vector3 GetAsEuler();
+ /// \brief Convert euler angles to quatern.
+ public: static Quatern EulerToQuatern( const Vector3 vec );
+
+ /// \brief Convert euler angles to quatern.
+ public: Quatern EulerToQuatern( double x, double y, double z);
+
/// \brief Get the Euler roll angle in radians
public: double GetRoll();
Modified: code/gazebo/branches/dev/server/World.cc
===
--- code/gazebo/branches/dev/server/World.cc2010-11-28 17:45:54 UTC (rev
8984)
+++ code/gazebo/branches/dev/server/World.cc2010-11-29 05:34:15 UTC (rev
8985)
@@ -79,6 +79,7 @@
// Private constructor
World::World()
{
+ std::cout New World\n;
this-server = NULL;
this-physicsEngine = NULL;
this-graphics = NULL;
Modified: code/gazebo/branches/dev/server/rendering/Camera.cc
===
--- code/gazebo/branches/dev/server/rendering/Camera.cc 2010-11-28 17:45:54 UTC
(rev 8984)
+++ code/gazebo/branches/dev/server/rendering/Camera.cc 2010-11-29 05:34:15 UTC
(rev 8985)
@@ -52,6 +52,7 @@
// Constructor
Camera::Camera(const std::string namePrefix, Scene *scene)
{
+ std::cout New Camera\n;
this-scene = scene;
this-textureWidth = this-textureHeight = 0;
@@ -973,6 +974,8 @@
Ogre::Viewport *cviewport;
+ std::cout Creating a camera\n;
+
this-camera = this-scene-GetManager()-createCamera(this-name);
// Use X/Y as horizon, Z up
Modified: code/gazebo/branches/dev/server/rendering/Scene.cc
===
--- code/gazebo/branches/dev/server/rendering/Scene.cc 2010-11-28 17:45:54 UTC
(rev 8984)
+++ code/gazebo/branches/dev/server/rendering/Scene.cc 2010-11-29 05:34:15 UTC
(rev 8985)
@@ -25,6 +25,7 @@
/// Constructor
Scene::Scene(const std::string name)
{
+ std::cout New Scene\n;
this-id = idCounter++;
this-idString = boost::lexical_caststd::string(this-id);
Modified: code/gazebo/branches/dev/server/rendering/UserCamera.cc
===
--- code/gazebo/branches/dev/server/rendering/UserCamera.cc 2010-11-28
17:45:54 UTC (rev 8984)
+++ code/gazebo/branches/dev/server/rendering/UserCamera.cc 2010-11-29
05:34:15 UTC (rev 8985)
@@ -58,6 +58,8 @@
{
std::stringstream stream;
+ std::cout New User Camera\n;
+
//int w, h;
//parentWindow-GetSize(w, h);
//this-window = OgreCreator::Instance()-CreateWindow(parentWindow, w, h);
@@ -65,8 +67,6 @@
stream UserCamera_ this-count++;
this-name = stream.str();
- this-viewport
[Playerstage-commit] SF.net SVN: playerstage:[8978] code/gazebo/branches/dev/server/rendering/ RenderTypes.hh
Revision: 8978
http://playerstage.svn.sourceforge.net/playerstage/?rev=8978view=rev
Author: natepak
Date: 2010-11-25 01:10:06 + (Thu, 25 Nov 2010)
Log Message:
---
Added RenderTypes
Added Paths:
---
code/gazebo/branches/dev/server/rendering/RenderTypes.hh
Added: code/gazebo/branches/dev/server/rendering/RenderTypes.hh
===
--- code/gazebo/branches/dev/server/rendering/RenderTypes.hh
(rev 0)
+++ code/gazebo/branches/dev/server/rendering/RenderTypes.hh2010-11-25
01:10:06 UTC (rev 8978)
@@ -0,0 +1,25 @@
+#ifndef RENDERING_HH
+#define RENDERING_HH
+
+enum OperationType
+{
+ /// A list of points, 1 vertex per point
+ RENDERING_POINT_LIST = 0,//Ogre::RenderOperation::OT_POINT_LIST,
+
+ /// A list of lines, 2 vertices per line
+ RENDERING_LINE_LIST = 1,//Ogre::RenderOperation::OT_LINE_LIST,
+
+ /// A strip of connected lines, 1 vertex per line plus 1 start vertex
+ RENDERING_LINE_STRIP = 2,//Ogre::RenderOperation::OT_LINE_STRIP,
+
+ /// A list of triangles, 3 vertices per triangle
+ RENDERING_TRIANGLE_LIST = 3,//Ogre::RenderOperation::OT_TRIANGLE_LIST,
+
+ /// A strip of triangles, 3 vertices for the first triangle, and 1 per
triangle after that
+ RENDERING_TRIANGLE_STRIP = 4,//Ogre::RenderOperation::OT_TRIANGLE_STRIP,
+
+ /// 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
+};
+
+#endif
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[Playerstage-commit] SF.net SVN: playerstage:[8976] code/gazebo/branches/dev/server
Revision: 8976
http://playerstage.svn.sourceforge.net/playerstage/?rev=8976view=rev
Author: natepak
Date: 2010-11-24 03:27:30 + (Wed, 24 Nov 2010)
Log Message:
---
Fixed some bugs
Modified Paths:
--
code/gazebo/branches/dev/server/physics/Body.cc
code/gazebo/branches/dev/server/physics/Geom.cc
code/gazebo/branches/dev/server/physics/PhysicsEngine.cc
code/gazebo/branches/dev/server/rendering/Visual.cc
code/gazebo/branches/dev/server/rendering/Visual.hh
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===
--- code/gazebo/branches/dev/server/physics/Body.cc 2010-11-23 04:23:57 UTC
(rev 8975)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2010-11-24 03:27:30 UTC
(rev 8976)
@@ -379,9 +379,9 @@
if (this-cgVisual == NULL)
{
- this-cgVisual = new Visual(this-comEntity-GetVisualNode());
+ this-cgVisual = new Visual(this-comEntity);
this-cgVisual-SetName(visname.str());
- this-cvVisual-Init();
+ this-cgVisual-Init();
}
else
this-cgVisual-DetachObjects();
Modified: code/gazebo/branches/dev/server/physics/Geom.cc
===
--- code/gazebo/branches/dev/server/physics/Geom.cc 2010-11-23 04:23:57 UTC
(rev 8975)
+++ code/gazebo/branches/dev/server/physics/Geom.cc 2010-11-24 03:27:30 UTC
(rev 8976)
@@ -171,7 +171,7 @@
visname this-GetCompleteScopedName() _VISUAL_
this-visuals.size();
Visual *visual = new Visual(this-visualNode);
visual-Load(childNode);
-visual-SetName(visname);
+visual-SetName(visname.str());
visual-SetIgnorePoseUpdates(true);
visual-SetOwner(this);
visual-Init();
Modified: code/gazebo/branches/dev/server/physics/PhysicsEngine.cc
===
--- code/gazebo/branches/dev/server/physics/PhysicsEngine.cc2010-11-23
04:23:57 UTC (rev 8975)
+++ code/gazebo/branches/dev/server/physics/PhysicsEngine.cc2010-11-24
03:27:30 UTC (rev 8976)
@@ -59,8 +59,8 @@
if (Simulator::Instance()-GetRenderEngineEnabled())
{
-this-visual = new Visual(NULL);
-this-visual-SetName(Physics_Engine_Visual), this-world-GetScene());
+this-visual = new Visual(NULL); //this-world-GetScene();
+this-visual-SetName(Physics_Engine_Visual);
this-visual-SetVisible(false);
this-visual-SetCastShadows(false);
this-visual-SetUseRTShader(false);
@@ -116,7 +116,7 @@
if (this-visual)
{
-OgreCreator::Instance()-DeleteVisual( this-visual );
+delete this-visual;
this-visual = NULL;
}
Modified: code/gazebo/branches/dev/server/rendering/Visual.cc
===
--- code/gazebo/branches/dev/server/rendering/Visual.cc 2010-11-23 04:23:57 UTC
(rev 8975)
+++ code/gazebo/branches/dev/server/rendering/Visual.cc 2010-11-24 03:27:30 UTC
(rev 8976)
@@ -47,12 +47,9 @@
SelectionObj *Visual::selectionObj = 0;
unsigned int Visual::visualCounter = 0;
- FIXING OGRE VISUAL!!
-
-
// Constructor
-Visual::Visual(Common *parent)//const std::string name, Scene *scene, Visual
*node)
+Visual::Visual(Common *parent)
: Common(parent)
{
this-AddType(VISUAL);
@@ -328,7 +325,19 @@
(*iter)-Update();
}
+
+/// Set the owner
+void Visual::SetOwner(Common *common)
+{
+ this-owner = common;
+}
+
+// Get the owner
+Common *Visual::GetOwner() const
+{
+ return this-owner;
+}
// Save the visual in XML format
Modified: code/gazebo/branches/dev/server/rendering/Visual.hh
===
--- code/gazebo/branches/dev/server/rendering/Visual.hh 2010-11-23 04:23:57 UTC
(rev 8975)
+++ code/gazebo/branches/dev/server/rendering/Visual.hh 2010-11-24 03:27:30 UTC
(rev 8976)
@@ -55,23 +55,26 @@
class Visual : public Common, public Ogre::Any
{
/// \brief Constructor
-public: Visual (const std::string name, Scene *scene, Visual
*parent=NULL, Entity *owner = NULL);
+public: Visual (Common *parent = NULL);
-/// \brief Constructor
-public: Visual (Ogre::SceneNode *node, bool isStatic=false);
+/// \brief Destructor
+public: virtual ~Visual();
/// \brief Helper for the contructor
-private: void ConstructorHelper(Ogre::SceneNode *node, bool
isStatic=false);
+public: void Init();
-/// \brief Destructor
-public: virtual ~Visual();
-
/// \brief Load the visual
public: void Load(XMLConfigNode *node);
/// \brief Update the visual.
public
[Playerstage-commit] SF.net SVN: playerstage:[8972] code/gazebo/branches/dev/server/rendering
Revision: 8972
http://playerstage.svn.sourceforge.net/playerstage/?rev=8972view=rev
Author: natepak
Date: 2010-11-17 16:18:26 + (Wed, 17 Nov 2010)
Log Message:
---
Added windowmanager
Added Paths:
---
code/gazebo/branches/dev/server/rendering/WindowManager.cc
code/gazebo/branches/dev/server/rendering/WindowManager.hh
Added: code/gazebo/branches/dev/server/rendering/WindowManager.cc
===
--- code/gazebo/branches/dev/server/rendering/WindowManager.cc
(rev 0)
+++ code/gazebo/branches/dev/server/rendering/WindowManager.cc 2010-11-17
16:18:26 UTC (rev 8972)
@@ -0,0 +1,105 @@
+#include Ogre.h
+#include math.h
+
+#include OgreAdaptor.hh
+#include RTShaderSystem.hh
+#include Color.hh
+#include GazeboMessage.hh
+#include GazeboError.hh
+#include Camera.hh
+#include RenderControl.hh
+#include WindowManager.hh
+
+using namespace gazebo;
+
+unsigned int WindowManager::windowCounter = 0;
+
+
+// Constructor
+WindowManager::WindowManager()
+{
+}
+
+
+WindowManager::~WindowManager()
+{
+}
+
+
+int WindowManager::CreateWindow( RenderControl *control )
+{
+ int result = -1;
+
+ if (control)
+result = this-CreateWindow( control-GetOgreHandle(),
+ control-GetWidth(), control-GetHeight());
+ else
+gzerr(0) Invalid RenderControl\n;
+
+ return result;
+}
+
+
+/// Attach a camera to a window
+void WindowManager::SetCamera( int windowId, Camera *camera)
+{
+ Ogre::Viewport *viewport = NULL;
+
+ viewport = this-windows[windowId]-addViewport(camera-GetCamera());
+
+ double ratio = (double)viewport-getActualWidth() /
(double)viewport-getActualHeight();
+ double vfov = fabs(2.0 * atan(tan(camera-GetHFOV().GetAsRadian() / 2.0) /
ratio));
+
+ camera-SetAspectRatio( ratio );
+ camera-GetCamera()-setFOVy(Ogre::Radian(vfov));
+
+ viewport-setClearEveryFrame(true);
+ viewport-setBackgroundColour( Color(0,0,0).GetOgreColor() );
+ viewport-setVisibilityMask(camera-GetVisibilityMask());
+
+ RTShaderSystem::AttachViewport(viewport, camera-GetScene());
+}
+
+
+// Create a window
+int WindowManager::CreateWindow( const std::string ogreHandle,
+ unsigned int width,
+ unsigned int height)
+{
+ Ogre::StringVector paramsVector;
+ Ogre::NameValuePairList params;
+ Ogre::RenderWindow *window = NULL;
+
+ params[parentWindowHandle] = ogreHandle;
+
+ std::ostringstream stream;
+ stream OgreWindow( windowCounter++ );
+
+ int attempts = 0;
+ while (window == NULL (attempts++) 10)
+ {
+try
+{
+ window = OgreAdaptor::Instance()-root-createRenderWindow(
stream.str(),
+ width, height, false, params);
+}
+catch (...)
+{
+ gzerr(0) Unable to create the rendering window\n;
+ window = NULL;
+}
+ }
+
+ if (attempts = 10)
+ {
+gzthrow(Unable to create the rendering window\n);
+ }
+
+ window-setActive(true);
+ //window-setVisible(true);
+ window-setAutoUpdated(false);
+
+ this-windows.push_back(window);
+
+ return this-windows.size()-1;
+}
Added: code/gazebo/branches/dev/server/rendering/WindowManager.hh
===
--- code/gazebo/branches/dev/server/rendering/WindowManager.hh
(rev 0)
+++ code/gazebo/branches/dev/server/rendering/WindowManager.hh 2010-11-17
16:18:26 UTC (rev 8972)
@@ -0,0 +1,42 @@
+#ifndef WINDOWMANAGER_HH
+#define WINDOWMANAGER_HH
+
+#include SingletonT.hh
+#include string
+#include vector
+
+namespace Ogre
+{
+ class RenderWindow;
+}
+
+namespace gazebo
+{
+ class RenderControl;
+ class Camera;
+
+ class WindowManager : public SingletonTWindowManager
+ {
+public: WindowManager();
+public: virtual ~WindowManager();
+
+public: int CreateWindow( RenderControl *control );
+
+public: int CreateWindow( std::string ogreHandle,
+ unsigned int width,
+ unsigned int height );
+
+
+/// \brief Attach a camera to a window
+public: void SetCamera( int windowId, Camera *camera);
+
+
+private: std::vectorOgre::RenderWindow * windows;
+
+private: static unsigned int windowCounter;
+
+private: friend class DestroyerTWindowManager;
+private: friend class SingletonTWindowManager;
+ };
+}
+#endif
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[Playerstage-commit] SF.net SVN: playerstage:[8970] code/gazebo/trunk/Media/materials/textures/ CMakeLists.txt
Revision: 8970
http://playerstage.svn.sourceforge.net/playerstage/?rev=8970view=rev
Author: natepak
Date: 2010-11-16 16:31:13 + (Tue, 16 Nov 2010)
Log Message:
---
Added missing CMakeLists.txt
Added Paths:
---
code/gazebo/trunk/Media/materials/textures/CMakeLists.txt
Added: code/gazebo/trunk/Media/materials/textures/CMakeLists.txt
===
--- code/gazebo/trunk/Media/materials/textures/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/materials/textures/CMakeLists.txt 2010-11-16
16:31:13 UTC (rev 8970)
@@ -0,0 +1,40 @@
+SET (files
+box_create_blue.png
+box_create_grey.png
+cave.png
+ceiling_tiled.jpg
+clouds.jpg
+CMakeLists.txt
+control_end_blue.png
+control_end.png
+control_pause_blue.png
+control_pause.png
+control_play_blue.png
+control_play.png
+cursor.png
+cylinder_create_blue.png
+directionallight.png
+gazebo_icon.png
+gazebo_light_icons.svg
+grayGrid.png
+hand_cursor.png
+hanoi_blue_disk.tga
+hanoi_green_disk.tga
+hanoi_red_disk.tga
+hardwood_floor.jpg
+paintedWall.jpg
+pioneerBody.jpg
+pointlight.png
+sphere_create_blue.png
+sphere_create_grey.png
+spotlight.png
+terrain_detail.jpg
+terrain.png
+terrain_texture.jpg
+willowMap.png
+WoodPallet.png
+)
+
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/materials/textures/)
+
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[Playerstage-commit] SF.net SVN: playerstage:[8958] code/gazebo/branches/dev/
Revision: 8958 http://playerstage.svn.sourceforge.net/playerstage/?rev=8958view=rev Author: natepak Date: 2010-11-12 01:55:52 + (Fri, 12 Nov 2010) Log Message: --- Creating a development branch Added Paths: --- code/gazebo/branches/dev/ This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- Centralized Desktop Delivery: Dell and VMware Reference Architecture Simplifying enterprise desktop deployment and management using Dell EqualLogic storage and VMware View: A highly scalable, end-to-end client virtualization framework. Read more! http://p.sf.net/sfu/dell-eql-dev2dev ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8962] code/gazebo/branches/dev/Media/materials/ textures/CMakeLists.txt
Revision: 8962
http://playerstage.svn.sourceforge.net/playerstage/?rev=8962view=rev
Author: natepak
Date: 2010-11-12 02:11:13 + (Fri, 12 Nov 2010)
Log Message:
---
Missing cmake
Added Paths:
---
code/gazebo/branches/dev/Media/materials/textures/CMakeLists.txt
Added: code/gazebo/branches/dev/Media/materials/textures/CMakeLists.txt
===
--- code/gazebo/branches/dev/Media/materials/textures/CMakeLists.txt
(rev 0)
+++ code/gazebo/branches/dev/Media/materials/textures/CMakeLists.txt
2010-11-12 02:11:13 UTC (rev 8962)
@@ -0,0 +1,40 @@
+SET (files
+box_create_blue.png
+box_create_grey.png
+cave.png
+ceiling_tiled.jpg
+clouds.jpg
+CMakeLists.txt
+control_end_blue.png
+control_end.png
+control_pause_blue.png
+control_pause.png
+control_play_blue.png
+control_play.png
+cursor.png
+cylinder_create_blue.png
+directionallight.png
+gazebo_icon.png
+gazebo_light_icons.svg
+grayGrid.png
+hand_cursor.png
+hanoi_blue_disk.tga
+hanoi_green_disk.tga
+hanoi_red_disk.tga
+hardwood_floor.jpg
+paintedWall.jpg
+pioneerBody.jpg
+pointlight.png
+sphere_create_blue.png
+sphere_create_grey.png
+spotlight.png
+terrain_detail.jpg
+terrain.png
+terrain_texture.jpg
+willowMap.png
+WoodPallet.png
+)
+
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/materials/textures/)
+
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[Playerstage-commit] SF.net SVN: playerstage:[8954] code/gazebo/trunk/server/wx
Revision: 8954
http://playerstage.svn.sourceforge.net/playerstage/?rev=8954view=rev
Author: natepak
Date: 2010-11-03 22:51:07 + (Wed, 03 Nov 2010)
Log Message:
---
Updates to parameter setting
Modified Paths:
--
code/gazebo/trunk/server/wx/PhysicsPage.cc
code/gazebo/trunk/server/wx/PhysicsPage.hh
code/gazebo/trunk/server/wx/Properties.cc
code/gazebo/trunk/server/wx/Properties.hh
Modified: code/gazebo/trunk/server/wx/PhysicsPage.cc
===
--- code/gazebo/trunk/server/wx/PhysicsPage.cc 2010-11-03 16:52:46 UTC (rev
8953)
+++ code/gazebo/trunk/server/wx/PhysicsPage.cc 2010-11-03 22:51:07 UTC (rev
8954)
@@ -18,76 +18,34 @@
PhysicsEngine *engine = World::Instance()-GetPhysicsEngine();
wxBoxSizer *boxSizer = new wxBoxSizer(wxVERTICAL);
-
- this-propGrid = new wxPropertyGrid( this, wxID_ANY, wxDefaultPosition,
wxDefaultSize, wxPG_DEFAULT_STYLE|wxPG_SPLITTER_AUTO_CENTER);
- this-propGrid-Connect( wxEVT_PG_CHANGED, wxPropertyGridEventHandler(
PhysicsPage::OnPropertyChanged), NULL, this);
- unsigned int paramCount = engine-GetParamCount();
-
PropertyFactory::RegisterAll();
- for (unsigned int i = 0; i paramCount; i++)
- {
-Param *param = engine-GetParam(i);
-Property *prop = PropertyFactory::CreateProperty(param, this-propGrid);
+ this-propGrid = new wxPropertyGrid( this, wxID_ANY, wxDefaultPosition,
wxDefaultSize, wxPG_DEFAULT_STYLE|wxPG_SPLITTER_AUTO_CENTER);
-/*wxString paramName = wxString::FromAscii(param-GetKey().c_str());
-wxString paramValue = wxString::FromAscii(param-GetAsString().c_str());
+ this-propManager = new PropertyManager(this-propGrid);
-wxPGProperty *prop = NULL;
-if (param-IsInt())
- prop = this-propGrid-Append(new wxIntProperty(paramName, wxPG_LABEL));
-else if (param-IsUInt())
- prop = this-propGrid-Append(new wxUIntProperty(paramName, wxPG_LABEL));
-else if (param-IsBool())
-{
- prop = this-propGrid-Append(new wxBoolProperty(paramName, wxPG_LABEL));
- if (param-GetAsString() == 1)
-paramValue = wxT(True);
- else
-paramValue = wxT(False);
-}
-else if (param-IsFloat() || param-IsDouble())
- prop = this-propGrid-Append(new wxFloatProperty(paramName,
wxPG_LABEL));
-else if (param-IsStr())
- prop = this-propGrid-Append(new wxStringProperty(paramName,
wxPG_LABEL));
+ unsigned int paramCount = engine-GetParamCount();
-if (prop)
-{
- prop-SetValueFromString( paramValue );
- prop-SetClientData( param );
-}
-*/
+ for (unsigned int i = 0; i paramCount; i++)
+ {
+this-propManager-AddProperty( engine-GetParam(i) );
}
boxSizer-Add(this-propGrid, 1, wxEXPAND | wxALL,4);
this-SetSizer(boxSizer);
this-Layout();
-
}
+// Destructor
PhysicsPage::~PhysicsPage()
{
- this-propGrid-Destroy();
+ delete this-propManager;
+ this-grid-Destroy();
}
void PhysicsPage::Apply()
{
}
-
-
-// On property changed event callback
-void PhysicsPage::OnPropertyChanged(wxPropertyGridEvent event)
-{
- wxPGProperty *wxprop = event.GetProperty();
-
- if (!wxprop)
-return;
-
- Property *prop = (Property*)(wxprop-GetClientData());
-
- if (prop)
-prop-Changed();
-}
Modified: code/gazebo/trunk/server/wx/PhysicsPage.hh
===
--- code/gazebo/trunk/server/wx/PhysicsPage.hh 2010-11-03 16:52:46 UTC (rev
8953)
+++ code/gazebo/trunk/server/wx/PhysicsPage.hh 2010-11-03 22:51:07 UTC (rev
8954)
@@ -8,6 +8,8 @@
namespace gazebo
{
+ class PropertyManager;
+
class PhysicsPage : public ParamPage
{
public: PhysicsPage(wxWindow *parent);
@@ -19,6 +21,7 @@
private: void OnPropertyChanged(wxPropertyGridEvent event);
private: wxPropertyGrid *propGrid;
+private: PropertyManager *propManager;
};
}
Modified: code/gazebo/trunk/server/wx/Properties.cc
===
--- code/gazebo/trunk/server/wx/Properties.cc 2010-11-03 16:52:46 UTC (rev
8953)
+++ code/gazebo/trunk/server/wx/Properties.cc 2010-11-03 22:51:07 UTC (rev
8954)
@@ -48,8 +48,48 @@
return NULL;
}
+
+// Constructor
+PropertyManager::PropertyManager()
+{
+ this-grid-Connect( wxEVT_PG_CHANGED, wxPropertyGridEventHandler(
PropertyManager::OnPropertyChanged), NULL, this);
+}
+// Destructor
+PropertyManager::~PropertyManager()
+{
+ std::listProperty*::iterator iter;
+
+ for (iter = this-properties.begin
[Playerstage-commit] SF.net SVN: playerstage:[8955] code/gazebo/trunk/server/wx
Revision: 8955
http://playerstage.svn.sourceforge.net/playerstage/?rev=8955view=rev
Author: natepak
Date: 2010-11-03 23:25:46 + (Wed, 03 Nov 2010)
Log Message:
---
Fixed some bugs
Modified Paths:
--
code/gazebo/trunk/server/wx/PhysicsPage.cc
code/gazebo/trunk/server/wx/PhysicsPage.hh
code/gazebo/trunk/server/wx/Properties.cc
code/gazebo/trunk/server/wx/Properties.hh
Modified: code/gazebo/trunk/server/wx/PhysicsPage.cc
===
--- code/gazebo/trunk/server/wx/PhysicsPage.cc 2010-11-03 22:51:07 UTC (rev
8954)
+++ code/gazebo/trunk/server/wx/PhysicsPage.cc 2010-11-03 23:25:46 UTC (rev
8955)
@@ -23,6 +23,8 @@
this-propGrid = new wxPropertyGrid( this, wxID_ANY, wxDefaultPosition,
wxDefaultSize, wxPG_DEFAULT_STYLE|wxPG_SPLITTER_AUTO_CENTER);
+ this-propGrid-Connect( wxEVT_PG_CHANGED, wxPropertyGridEventHandler(
PhysicsPage::OnPropertyChanged), NULL, this);
+
this-propManager = new PropertyManager(this-propGrid);
unsigned int paramCount = engine-GetParamCount();
@@ -42,10 +44,25 @@
PhysicsPage::~PhysicsPage()
{
delete this-propManager;
- this-grid-Destroy();
+ this-propGrid-Destroy();
}
void PhysicsPage::Apply()
{
}
+
+
+// On property changed event callback
+void PhysicsPage::OnPropertyChanged(wxPropertyGridEvent event)
+{
+ wxPGProperty *wxprop = event.GetProperty();
+
+ if (!wxprop)
+return;
+
+ Property *prop = (Property*)(wxprop-GetClientData());
+
+ if (prop)
+prop-Changed();
+}
Modified: code/gazebo/trunk/server/wx/PhysicsPage.hh
===
--- code/gazebo/trunk/server/wx/PhysicsPage.hh 2010-11-03 22:51:07 UTC (rev
8954)
+++ code/gazebo/trunk/server/wx/PhysicsPage.hh 2010-11-03 23:25:46 UTC (rev
8955)
@@ -17,7 +17,6 @@
public: virtual void Apply();
-/// \brief On property changed event callback
private: void OnPropertyChanged(wxPropertyGridEvent event);
private: wxPropertyGrid *propGrid;
Modified: code/gazebo/trunk/server/wx/Properties.cc
===
--- code/gazebo/trunk/server/wx/Properties.cc 2010-11-03 22:51:07 UTC (rev
8954)
+++ code/gazebo/trunk/server/wx/Properties.cc 2010-11-03 23:25:46 UTC (rev
8955)
@@ -50,9 +50,9 @@
// Constructor
-PropertyManager::PropertyManager()
+PropertyManager::PropertyManager(wxPropertyGrid *g)
+ : grid(g)
{
- this-grid-Connect( wxEVT_PG_CHANGED, wxPropertyGridEventHandler(
PropertyManager::OnPropertyChanged), NULL, this);
}
@@ -70,26 +70,11 @@
// Add a property
void PropertyManager::AddProperty(Param *p)
{
- Property *prop = PropertyFactory::CreateProperty( param, this-grid );
+ Property *prop = PropertyFactory::CreateProperty( p, this-grid );
this-properties.push_back( prop );
}
-// On property changed event callback
-void PropertyManager::OnPropertyChanged(wxPropertyGridEvent event)
-{
- wxPGProperty *wxprop = event.GetProperty();
-
- if (!wxprop)
-return;
-
- Property *prop = (Property*)(wxprop-GetClientData());
-
- if (prop)
-prop-Changed();
-}
-
-
// Constructor
Property::Property(Param *p, wxPropertyGrid *grid)
: param(p), grid(grid), property(NULL)
@@ -282,7 +267,7 @@
this-property-SetValueFromString(
wxString::FromAscii(param-GetAsString().c_str()) );
- ParamQuatern *pv = (ParamTQuatern*)pv;
+ ParamTQuatern *pv = (ParamTQuatern*)this-param;
Vector3 rpy = (**pv).GetAsEuler();
this-roll = this-grid-AppendIn( this-property, new wxFloatProperty(
wxT(Roll), wxT(Roll), rpy.x) );
Modified: code/gazebo/trunk/server/wx/Properties.hh
===
--- code/gazebo/trunk/server/wx/Properties.hh 2010-11-03 22:51:07 UTC (rev
8954)
+++ code/gazebo/trunk/server/wx/Properties.hh 2010-11-03 23:25:46 UTC (rev
8955)
@@ -1,6 +1,8 @@
#ifndef PROPERTIES_HH
#define PROPERTIES_HH
+#include wx/wx.h
+
#include Param.hh
#include StaticPluginRegister.hh
@@ -27,9 +29,12 @@
class PropertyManager
{
-public: PropertyManager();
+public: PropertyManager(wxPropertyGrid *g);
public: virtual ~PropertyManager();
+public: void AddProperty(Param *p);
+
+
private: wxPropertyGrid *grid;
private: std::listProperty* properties;
};
@@ -128,7 +133,7 @@
public: virtual ~TimeProperty();
private: wxPGProperty *sec;
-private
[Playerstage-commit] SF.net SVN: playerstage:[8943] code/gazebo/trunk/server
Revision: 8943
http://playerstage.svn.sourceforge.net/playerstage/?rev=8943view=rev
Author: natepak
Date: 2010-10-14 01:34:13 + (Thu, 14 Oct 2010)
Log Message:
---
Removed the gui directory
Modified Paths:
--
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/rendering/OgreVisual.cc
Removed Paths:
-
code/gazebo/trunk/server/gui/
Modified: code/gazebo/trunk/server/physics/Geom.cc
===
--- code/gazebo/trunk/server/physics/Geom.cc2010-10-14 01:32:14 UTC (rev
8942)
+++ code/gazebo/trunk/server/physics/Geom.cc2010-10-14 01:34:13 UTC (rev
8943)
@@ -195,11 +195,6 @@
childNode = childNode-GetNext(visual);
}
-
- if (this-GetShapeType() != plane this-GetShapeType() != heightmap)
- {
-this-SetTransparent(false);
- }
}
@@ -355,7 +350,6 @@
{
if (*iter)
{
- (*iter)-ToggleVisible();
if ((*iter)-GetTransparency() == 0.0)
(*iter)-SetTransparency(0.6);
else
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===
--- code/gazebo/trunk/server/rendering/OgreVisual.cc2010-10-14 01:32:14 UTC
(rev 8942)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc2010-10-14 01:34:13 UTC
(rev 8943)
@@ -668,7 +668,7 @@
Ogre::MovableObject *obj = this-sceneNode-getAttachedObject(i);
entity = dynamic_castOgre::Entity*(obj);
-//simple = dynamic_castOgre::SimpleRenderable*(obj);
+
if (!entity)
continue;
@@ -681,7 +681,7 @@
unsigned int techniqueCount, passCount;
Ogre::Technique *technique;
Ogre::Pass *pass;
- Ogre::ColourValue sc, dc;
+ Ogre::ColourValue dc;
for (techniqueCount = 0; techniqueCount material-getNumTechniques();
techniqueCount++)
@@ -691,30 +691,15 @@
for (passCount=0; passCount technique-getNumPasses(); passCount++)
{
pass = technique-getPass(passCount);
- sc = pass-getDiffuse();
+ pass-setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
if (this-transparency 0.0)
pass-setDepthWriteEnabled(false);
else
pass-setDepthWriteEnabled(true);
- switch (this-sceneBlendType)
- {
-case Ogre::SBT_ADD:
- dc = sc;
- dc.r -= sc.r * this-transparency;
- dc.g -= sc.g * this-transparency;
- dc.b -= sc.b * this-transparency;
- pass-setAmbient(Ogre::ColourValue::Black);
- break;
-
-case Ogre::SBT_TRANSPARENT_ALPHA:
-default:
- dc = sc;
- dc.a = (1.0f - this-transparency);
- pass-setAmbient(pass-getAmbient());
- break;
- }
+ dc = pass-getDiffuse();
+ dc.a = (1.0f - this-transparency);
pass-setDiffuse(dc);
}
}
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[Playerstage-commit] SF.net SVN: playerstage:[8938] code/gazebo/trunk/server/rendering
Revision: 8938
http://playerstage.svn.sourceforge.net/playerstage/?rev=8938view=rev
Author: natepak
Date: 2010-10-11 17:00:22 + (Mon, 11 Oct 2010)
Log Message:
---
Added render state
Added Paths:
---
code/gazebo/trunk/server/rendering/RenderState.cc
code/gazebo/trunk/server/rendering/RenderState.hh
Added: code/gazebo/trunk/server/rendering/RenderState.cc
===
--- code/gazebo/trunk/server/rendering/RenderState.cc
(rev 0)
+++ code/gazebo/trunk/server/rendering/RenderState.cc 2010-10-11 17:00:22 UTC
(rev 8938)
@@ -0,0 +1,176 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Render state container
+ * Author: Nate Koenig
+ * Date: 06 Oct 2010
+ */
+
+#include boost/bind.hpp
+
+#include Events.hh
+#include RenderState.hh
+
+using namespace gazebo;
+
+bool RenderState::showLights = false;
+bool RenderState::showJoints = false;
+bool RenderState::showCameras = false;
+bool RenderState::showContacts = false;
+bool RenderState::showWireframe = false;
+bool RenderState::showPhysics = false;
+bool RenderState::showBoundingBoxes = false;
+
+RenderState *RenderState::self = NULL;
+
+
+RenderState::RenderState()
+{
+ Events::ConnectShowLightsSignal(
+ boost::bind(RenderState::ShowLightsCB,this) );
+
+ Events::ConnectShowJointsSignal(
+ boost::bind(RenderState::ShowJointsCB,this) );
+
+ Events::ConnectShowCamerasSignal(
+ boost::bind(RenderState::ShowCamerasCB,this) );
+
+ Events::ConnectShowContactsSignal(
+ boost::bind(RenderState::ShowContactsCB,this) );
+
+ Events::ConnectShowWireframeSignal(
+ boost::bind(RenderState::ShowWireframeCB,this) );
+
+ Events::ConnectShowBoundingBoxesSignal(
+ boost::bind(RenderState::ShowBoundingBoxesCB,this) );
+}
+
+
+RenderState::~RenderState()
+{
+ Events::DisconnectShowLightsSignal(
+ boost::bind(RenderState::ShowLightsCB,this) );
+
+ Events::DisconnectShowJointsSignal(
+ boost::bind(RenderState::ShowJointsCB,this) );
+
+ Events::DisconnectShowCamerasSignal(
+ boost::bind(RenderState::ShowCamerasCB,this) );
+
+ Events::DisconnectShowContactsSignal(
+ boost::bind(RenderState::ShowContactsCB,this) );
+
+ Events::DisconnectShowWireframeSignal(
+ boost::bind(RenderState::ShowWireframeCB,this) );
+
+ Events::DisconnectShowBoundingBoxesSignal(
+ boost::bind(RenderState::ShowBoundingBoxesCB,this) );
+}
+
+
+void RenderState::Init()
+{
+ if (self == NULL)
+self = new RenderState();
+}
+
+
+bool RenderState::GetShowLights()
+{
+ return showLights;
+}
+
+
+bool RenderState::GetShowJoints()
+{
+ return showJoints;
+}
+
+
+bool RenderState::GetShowCameras()
+{
+ return showCameras;
+}
+
+
+bool RenderState::GetShowContacts()
+{
+ return showContacts;
+}
+
+
+bool RenderState::GetShowWireframe()
+{
+ return showWireframe;
+}
+
+
+bool RenderState::GetShowPhysics()
+{
+ return showPhysics;
+}
+
+
+bool RenderState::GetShowBoundingBoxes()
+{
+ return showBoundingBoxes;
+}
+
+
+void RenderState::ShowLightsCB()
+{
+ this-showLights = !this-showLights;
+}
+
+
+void RenderState::ShowJointsCB()
+{
+ this-showJoints
[Playerstage-commit] SF.net SVN: playerstage:[8935] code/gazebo/trunk
Revision: 8935
http://playerstage.svn.sourceforge.net/playerstage/?rev=8935view=rev
Author: natepak
Date: 2010-10-04 16:53:48 + (Mon, 04 Oct 2010)
Log Message:
---
Cleaned up the build messages
Modified Paths:
--
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/cmake/GazeboUtils.cmake
code/gazebo/trunk/cmake/SearchForStuff.cmake
Modified: code/gazebo/trunk/CMakeLists.txt
===
--- code/gazebo/trunk/CMakeLists.txt2010-10-04 04:56:07 UTC (rev 8934)
+++ code/gazebo/trunk/CMakeLists.txt2010-10-04 16:53:48 UTC (rev 8935)
@@ -77,20 +77,30 @@
ENDIF (NOT CMAKE_BUILD_TYPE)
STRING(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE)
-SET (build_errors CACHE INTERNAL build errors FORCE)
+set (build_errors CACHE INTERNAL build errors FORCE)
+set (build_warnings CACHE INTERNAL build warnings FORCE)
MESSAGE (STATUS \n\n== Finding 3rd Party Packages ==)
INCLUDE (${gazebo_cmake_dir}/SearchForStuff.cmake)
MESSAGE (STATUS \n)
+if ( build_warnings )
+ message(STATUS BUILD WARNINGS)
+ foreach (msg ${build_warnings})
+message(STATUS ${msg})
+ endforeach (msg ${build_warnings})
+ message(STATUS END BUILD WARNINGS\n)
+endif (build_warnings)
+
if ( build_errors )
- message(STATUS !!! BUILD ERRORS !!!)
- message(STATUS These errors must be resolved before compiling)
+ message(STATUS BUILD ERRORS: These must be resolved before compiling.)
foreach (msg ${build_errors})
message(STATUS ${msg})
endforeach (msg ${build_errors})
- message(STATUS !!! END BUILD ERRORS !!!\n)
+ message(STATUS END BUILD ERRORS\n)
else (build_errors)
+
+
# Write the config.h file
configure_file (${PROJECT_SOURCE_DIR}/gazebo_config.h.in
${PROJECT_BINARY_DIR}/gazebo_config.h)
Modified: code/gazebo/trunk/cmake/GazeboUtils.cmake
===
--- code/gazebo/trunk/cmake/GazeboUtils.cmake 2010-10-04 04:56:07 UTC (rev
8934)
+++ code/gazebo/trunk/cmake/GazeboUtils.cmake 2010-10-04 16:53:48 UTC (rev
8935)
@@ -76,12 +76,21 @@
macro (BUILD_ERROR)
foreach (str ${ARGN})
-SET (msg ERROR: ${str} )
+SET (msg \t${str} )
MESSAGE (STATUS ${msg} )
APPEND_TO_CACHED_LIST(build_errors build errors ${msg})
endforeach (str ${ARGN})
endmacro (BUILD_ERROR)
+macro (BUILD_WARNING)
+ foreach (str ${ARGN})
+SET (msg \t${str} )
+MESSAGE (STATUS ${msg} )
+APPEND_TO_CACHED_LIST(build_warnings build warning ${msg})
+ endforeach (str ${ARGN})
+endmacro (BUILD_WARNING)
+
+
###
# Reset lists
MACRO (GAZEBOSERVER_RESET_LISTS)
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===
--- code/gazebo/trunk/cmake/SearchForStuff.cmake2010-10-04 04:56:07 UTC
(rev 8934)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake2010-10-04 16:53:48 UTC
(rev 8935)
@@ -34,7 +34,7 @@
include (FindOpenGL)
if (NOT OPENGL_FOUND)
- BUILD_ERROR (OpenGL and development files not found.)
+ BUILD_ERROR (Missing: OpenGL)
else ()
APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
${gazeboserver_include_dirs_desc}
@@ -53,7 +53,7 @@
# Find ODE
pkg_check_modules(ODE ode=${ODE_VERSION})
IF (NOT ODE_FOUND)
-BUILD_ERROR (ODE and development files not found. See the following
website: http://www.ode.org;)
+BUILD_ERROR (Missing: ODE(http://www.ode.org))
SET (INCLUDE_ODE FALSE CACHE BOOL Include support for ODE)
ELSE (NOT ODE_FOUND)
SET (INCLUDE_ODE TRUE CACHE BOOL Include support for ODE)
@@ -94,7 +94,7 @@
pkg_check_modules(OGRE OGRE=${MIN_OGRE_VERSION})
if (NOT OGRE_FOUND)
- BUILD_ERROR(Ogre3d version =${MIN_OGRE_VERSION} and development files
not found. See the following website for installation instructions:
http://www.orge3d.org;)
+ BUILD_ERROR(Missing: Ogre3d version
=${MIN_OGRE_VERSION}(http://www.orge3d.org))
else (NOT OGRE_FOUND)
set(ogre_ldflags ${OGRE_LDFLAGS})
set(ogre_include_dirs ${OGRE_INCLUDE_DIRS})
@@ -131,7 +131,7 @@
# Find GTK
pkg_check_modules(GTK2 gtk+-2.0)
IF (NOT GTK2_FOUND)
-BUILD_ERROR(gtk+-2.0 and development files not found. See the following
website: http://www.gtk.org;)
+BUILD_ERROR(Missing: gtk+-2.0)
ELSE (NOT GTK2_FOUND)
APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
${gazeboserver_include_dirs_desc}
@@ -158,7 +158,7 @@
# Find XML
pkg_check_modules(XML libxml-2.0)
IF (NOT XML_FOUND)
-BUILD_ERROR(libxml2 and development files not found. See the following
website: http://www.xmlsoft.org;)
+BUILD_ERROR(Missing: libxml2(http://www.xmlsoft.org))
ELSE (NOT XML_FOUND)
APPEND_TO_CACHED_LIST
[Playerstage-commit] SF.net SVN: playerstage:[8924] code/gazebo/branches/wx/Media/materials
Revision: 8924
http://playerstage.svn.sourceforge.net/playerstage/?rev=8924view=rev
Author: natepak
Date: 2010-10-01 18:56:56 + (Fri, 01 Oct 2010)
Log Message:
---
Updats to the shaders
Modified Paths:
--
code/gazebo/branches/wx/Media/materials/programs/ambient_one_texture_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/perpixel_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
Modified:
code/gazebo/branches/wx/Media/materials/programs/ambient_one_texture_vp.glsl
===
---
code/gazebo/branches/wx/Media/materials/programs/ambient_one_texture_vp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
+++
code/gazebo/branches/wx/Media/materials/programs/ambient_one_texture_vp.glsl
2010-10-01 18:56:56 UTC (rev 8924)
@@ -1,11 +1,8 @@
uniform vec4 ambient;
-/*
- Basic ambient lighting vertex program
-*/
void main()
{
gl_Position = ftransform();
gl_TexCoord[0] = gl_MultiTexCoord0;
- gl_FrontColor = ambient;
+ gl_FrontColor = gl_FrontMaterial.ambient * ambient;
}
Modified:
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_fp.glsl
===
---
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_fp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
+++
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_fp.glsl
2010-10-01 18:56:56 UTC (rev 8924)
@@ -61,7 +61,7 @@
shadow_map_pos = shadow_map_pos / shadow_map_pos.w;
vec2 uv = shadow_map_pos.xy;
- float depth_adjust = 0.0001;
+ float depth_adjust = 0.1;
vec2 c = Blur(shadow_map, uv, offset, 4.0, depth_adjust).xy;
// standard variance shadow mapping code
Modified:
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
===
---
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
+++
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
2010-10-01 18:56:56 UTC (rev 8924)
@@ -18,10 +18,10 @@
gl_Position = world_view_proj_mat * gl_Vertex;
// Vertex in world space
- //vertex_world_view_pos = (world_view_mat * gl_Vertex).xyz;
+ vertex_world_view_pos = (world_view_mat * gl_Vertex).xyz;
// Vertex normal in world space
- //vertex_world_norm = (inv_trans_world_view_mat * vec4(gl_Normal, 1.0)).xyz;
+ vertex_world_norm = (inv_trans_world_view_mat * vec4(gl_Normal, 1.0)).xyz;
shadow_distance = gl_Position.z;
Modified: code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
+++ code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
2010-10-01 18:56:56 UTC (rev 8924)
@@ -1,4 +1,4 @@
-uniform vec3 derived_light_diffuse_color;
+uniform vec4 derived_light_diffuse_color;
uniform vec4 derived_light_specular_color;
uniform float surface_shininess;
@@ -7,15 +7,12 @@
uniform vec4 light_attenuation;
uniform vec4 spotlight_params;
-uniform sampler2D diffuse_map;
-
varying vec3 vertex_world_view_pos;
varying vec3 vertex_world_norm;
void main()
{
- float spot = 1.0;
- float specular = 0.0;
+ vec4 color = gl_FrontMaterial.emission;
// Normalized fragment normal
vec3 norm = normalize(vertex_world_norm);
@@ -30,27 +27,18 @@
float lambert_term = max( dot(norm, light_dir_view), 0.0 );
-
//
- // COMPUTE DIFFUSE CONTRIBUTION
- vec4 diffuse_tex = texture2D(diffuse_map, gl_TexCoord[0].st);
- vec4 diffuse_contrib = vec4(derived_light_diffuse_color *
- diffuse_tex.rgb * lambert_term,1.0);
-
-
-
//
- // COMPUTE SPOT AND SPECULAR COMPONENTS
if (lambert_term 0.0)
{
vec3 view = -normalize(vertex_world_view_pos.xyz);
vec3 halfway = normalize( view + light_dir_view );
float nDotH = dot(norm, halfway);
-float fAtten = 1.0
[Playerstage-commit] SF.net SVN: playerstage:[8925] code/gazebo/branches/wx/Media/materials/ scripts
Revision: 8925
http://playerstage.svn.sourceforge.net/playerstage/?rev=8925view=rev
Author: natepak
Date: 2010-10-01 18:58:12 + (Fri, 01 Oct 2010)
Log Message:
---
Renamed shaders
Modified Paths:
--
code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
Added Paths:
---
code/gazebo/branches/wx/Media/materials/scripts/perpixel.program
code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.program
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.program
Removed Paths:
-
code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
Modified: code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
===
--- code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
2010-10-01 18:56:56 UTC (rev 8924)
+++ code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
2010-10-01 18:58:12 UTC (rev 8925)
@@ -1,7 +1,7 @@
SET (files Gazebo.material
- shadow_receiver.material
- shadow_caster.material
- perpixel.material
+ shadow_receiver.program
+ shadow_caster.program
+ perpixel.program
blur.compositor
blur.material
)
Added: code/gazebo/branches/wx/Media/materials/scripts/perpixel.program
===
--- code/gazebo/branches/wx/Media/materials/scripts/perpixel.program
(rev 0)
+++ code/gazebo/branches/wx/Media/materials/scripts/perpixel.program
2010-10-01 18:58:12 UTC (rev 8925)
@@ -0,0 +1,70 @@
+vertex_program ambient_one_texture_vp_glsl glsl
+{
+ source ambient_one_texture_vp.glsl
+
+ default_params
+ {
+param_named_auto ambient ambient_light_colour
+ }
+}
+
+vertex_program perpixel_vp_glsl glsl
+{
+ source perpixel_vp.glsl
+
+ default_params
+ {
+param_named_auto world_view_mat worldview_matrix
+param_named_auto world_view_proj_mat worldviewproj_matrix
+ }
+}
+
+fragment_program perpixel_fp_glsl glsl
+{
+ source perpixel_fp.glsl
+
+ default_params
+ {
+param_named_auto derived_light_diffuse_color derived_light_diffuse_colour 0
+param_named_auto derived_light_specular_color
derived_light_specular_colour 0
+param_named_auto surface_shininess surface_shininess
+
+param_named_auto light_position_view_space light_position_view_space 0
+param_named_auto light_direction_view_space light_direction_view_space 0
+param_named_auto light_attenuation light_attenuation 0
+param_named_auto spotlight_params spotlight_params 0
+ }
+}
+
+abstract material perpixel_template
+{
+ technique
+ {
+pass ambient
+{
+ ambient 1 1 1
+
+ vertex_program_ref ambient_one_texture_vp_glsl {}
+}
+
+pass light
+{
+ max_lights 8
+ scene_blend add
+ iteration once_per_light
+
+ diffuse 1 1 1
+ specular .1 .1 .1 128
+ emissive 0 0 0
+
+ vertex_program_ref perpixel_vp_glsl {}
+ fragment_program_ref perpixel_fp_glsl {}
+}
+
+pass decal
+{
+ lighting off
+ scene_blend dest_colour zero
+}
+ }
+}
Deleted: code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
===
--- code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
2010-10-01 18:56:56 UTC (rev 8924)
+++ code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
2010-10-01 18:58:12 UTC (rev 8925)
@@ -1,44 +0,0 @@
-vertex_program shadow_caster_vp_glsl glsl
-{
- source shadow_caster_vp.glsl
-
- default_params
- {
-param_named_auto world_view_proj_mat worldviewproj_matrix
-param_named_auto texel_offsets texel_offsets
- }
-}
-
-fragment_program shadow_caster_fp_glsl glsl
-{
- source shadow_caster_fp.glsl
-
- default_params
- {
-param_named_auto depth_range scene_depth_range
- }
-}
-
-
-material shadow_caster
-{
- technique
- {
-// all this will do is write depth and depth*depth to red and green
-pass
-{
- depth_check on
- depth_write on
- //cull_software none
- //cull_hardware none
-
- vertex_program_ref shadow_caster_vp_glsl
- {
- }
-
- fragment_program_ref shadow_caster_fp_glsl
- {
- }
-}
- }
-}
Copied: code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.program
(from rev 8922,
code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material)
===
--- code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.program
(rev 0)
+++ code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.program
2010-10-01 18:58:12 UTC (rev 8925)
@@ -0,0 +1,44 @@
+vertex_program
[Playerstage-commit] SF.net SVN: playerstage:[8927] code/gazebo/branches/wx
Revision: 8927
http://playerstage.svn.sourceforge.net/playerstage/?rev=8927view=rev
Author: natepak
Date: 2010-10-01 20:00:24 + (Fri, 01 Oct 2010)
Log Message:
---
Renamed some materials
Modified Paths:
--
code/gazebo/branches/wx/server/physics/Body.cc
code/gazebo/branches/wx/server/physics/Joint.cc
code/gazebo/branches/wx/server/physics/MultiRayShape.cc
code/gazebo/branches/wx/server/physics/RayShape.cc
code/gazebo/branches/wx/server/rendering/Light.cc
code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc
code/gazebo/branches/wx/server/rendering/UserCamera.cc
code/gazebo/branches/wx/worlds/empty.world
Added Paths:
---
code/gazebo/branches/wx/worlds/spheres.world
Modified: code/gazebo/branches/wx/server/physics/Body.cc
===
--- code/gazebo/branches/wx/server/physics/Body.cc 2010-10-01 18:59:56 UTC
(rev 8926)
+++ code/gazebo/branches/wx/server/physics/Body.cc 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -397,7 +397,7 @@
for (giter = this-geoms.begin(); giter != this-geoms.end(); giter++)
{
OgreDynamicLines *line =
OgreCreator::Instance()-CreateDynamicLine(OgreDynamicRenderable::OT_LINE_LIST);
-line-setMaterial(Gazebo/GreenEmissive);
+line-setMaterial(Gazebo/GreenGlow);
this-cgVisual-AttachObject(line);
line-AddPoint(Vector3(0,0,0));
line-AddPoint(giter-second-GetRelativePose().pos);
Modified: code/gazebo/branches/wx/server/physics/Joint.cc
===
--- code/gazebo/branches/wx/server/physics/Joint.cc 2010-10-01 18:59:56 UTC
(rev 8926)
+++ code/gazebo/branches/wx/server/physics/Joint.cc 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -157,8 +157,8 @@
this-line1 =
OgreCreator::Instance()-CreateDynamicLine(OgreDynamicRenderable::OT_LINE_LIST);
this-line2 =
OgreCreator::Instance()-CreateDynamicLine(OgreDynamicRenderable::OT_LINE_LIST);
-this-line1-setMaterial(Gazebo/BlueEmissive);
-this-line2-setMaterial(Gazebo/BlueEmissive);
+this-line1-setMaterial(Gazebo/BlueGlow);
+this-line2-setMaterial(Gazebo/BlueGlow);
this-visual-AttachObject(this-line1);
this-visual-AttachObject(this-line2);
Modified: code/gazebo/branches/wx/server/physics/MultiRayShape.cc
===
--- code/gazebo/branches/wx/server/physics/MultiRayShape.cc 2010-10-01
18:59:56 UTC (rev 8926)
+++ code/gazebo/branches/wx/server/physics/MultiRayShape.cc 2010-10-01
20:00:24 UTC (rev 8927)
@@ -21,7 +21,7 @@
this-geomParent-GetVisualNode()-AttachObject(this-rayFanOutline);
this-rayFan-setMaterial(Gazebo/BlueLaser);
-this-rayFanOutline-setMaterial(Gazebo/BlueEmissive);
+this-rayFanOutline-setMaterial(Gazebo/BlueGlow);
}
Param::Begin(this-parameters);
Modified: code/gazebo/branches/wx/server/physics/RayShape.cc
===
--- code/gazebo/branches/wx/server/physics/RayShape.cc 2010-10-01 18:59:56 UTC
(rev 8926)
+++ code/gazebo/branches/wx/server/physics/RayShape.cc 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -46,7 +46,7 @@
this-geomParent-GetVisualNode()-AttachObject(this-line);
-this-line-setMaterial(Gazebo/BlueEmissive);
+this-line-setMaterial(Gazebo/BlueGlow);
this-line-setVisibilityFlags(GZ_LASER_CAMERA);
}
Modified: code/gazebo/branches/wx/server/rendering/Light.cc
===
--- code/gazebo/branches/wx/server/rendering/Light.cc 2010-10-01 18:59:56 UTC
(rev 8926)
+++ code/gazebo/branches/wx/server/rendering/Light.cc 2010-10-01 20:00:24 UTC
(rev 8927)
@@ -269,7 +269,7 @@
}
- this-line-setMaterial(Gazebo/WhiteEmissive);
+ this-line-setMaterial(Gazebo/WhiteGlow);
this-line-setVisibilityFlags(GZ_LASER_CAMERA);
this-visualNode-AttachObject(line);
@@ -287,9 +287,9 @@
if (this-light-getType() != Ogre::Light::LT_DIRECTIONAL)
{
if (s)
- this-line-setMaterial(Gazebo/PurpleEmissive);
+ this-line-setMaterial(Gazebo/PurpleGlow);
else
- this-line-setMaterial(Gazebo/WhiteEmissive);
+ this-line-setMaterial(Gazebo/WhiteGlow);
}
return true;
Modified: code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc
===
--- code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc 2010-10-01
18:59:56 UTC (rev 8926)
+++ code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc 2010-10-01
20:00:24 UTC (rev 8927)
@@ -37,7 +37,7 @@
#include RTShaderSystem.hh
#include gz.h
-#define MINOR_VERSION 7
+#define MINOR_VERSION 70
using namespace gazebo;
Modified: code/gazebo/branches/wx/server/rendering
[Playerstage-commit] SF.net SVN: playerstage:[8929] code/gazebo/branches/simpar
Revision: 8929
http://playerstage.svn.sourceforge.net/playerstage/?rev=8929view=rev
Author: natepak
Date: 2010-10-01 21:57:32 + (Fri, 01 Oct 2010)
Log Message:
---
Updates
Modified Paths:
--
code/gazebo/branches/simpar/player/CMakeLists.txt
code/gazebo/branches/simpar/plugins/ball_drop.cc
code/gazebo/branches/simpar/plugins/box_push.cc
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
code/gazebo/branches/simpar/plugins/pioneer_line.cc
code/gazebo/branches/simpar/server/Logger.cc
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/simpar/worlds/empty.world
code/gazebo/branches/simpar/worlds/pioneer2dx.world
code/gazebo/branches/simpar/worlds/pioneer2dx_ramp.world
code/gazebo/branches/simpar/worlds/simpleshapes.world
Modified: code/gazebo/branches/simpar/player/CMakeLists.txt
===
--- code/gazebo/branches/simpar/player/CMakeLists.txt 2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/player/CMakeLists.txt 2010-10-01 21:57:32 UTC
(rev 8929)
@@ -1,31 +1,30 @@
-
-set (gazeboplugin_sources GazeboDriver.cc
- GazeboClient.cc
- GazeboInterface.cc
- GazeboTime.cc
- SimulationInterface.cc
- Position2dInterface.cc
- Position3dInterface.cc
- LaserInterface.cc
- CameraInterface.cc
- FiducialInterface.cc
- PTZInterface.cc
- OpaqueInterface.cc
- ActarrayInterface.cc
- GripperInterface.cc
- BumperInterface.cc
- IRInterface.cc
-)
-
-include_directories(
- ${PLAYER_INCLUDE_DIRS}
- ${CMAKE_SOURCE_DIR}/libgazebo
- ${boost_include_dirs}
-)
-
-link_directories( ${PLAYER_LINK_DIRS} ${boost_library_dirs} gazeboshm)
-
-add_library(gazeboplugin SHARED ${gazeboplugin_sources})
-target_link_libraries(gazeboplugin ${PLAYER_LINK_LIBS} gazeboshm )
-
-install(TARGETS gazeboplugin DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+#set (gazeboplugin_sources GazeboDriver.cc
+# GazeboClient.cc
+# GazeboInterface.cc
+# GazeboTime.cc
+# SimulationInterface.cc
+# Position2dInterface.cc
+# Position3dInterface.cc
+# LaserInterface.cc
+# CameraInterface.cc
+# FiducialInterface.cc
+# PTZInterface.cc
+# OpaqueInterface.cc
+# ActarrayInterface.cc
+# GripperInterface.cc
+# BumperInterface.cc
+# IRInterface.cc
+#)
+#
+#include_directories(
+# ${PLAYER_INCLUDE_DIRS}
+# ${CMAKE_SOURCE_DIR}/libgazebo
+# ${boost_include_dirs}
+#)
+#
+#link_directories( ${PLAYER_LINK_DIRS} ${boost_library_dirs} gazeboshm)
+#
+#add_library(gazeboplugin SHARED ${gazeboplugin_sources})
+#target_link_libraries(gazeboplugin ${PLAYER_LINK_LIBS} gazeboshm )
+#
+#install(TARGETS gazeboplugin DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
Modified: code/gazebo/branches/simpar/plugins/ball_drop.cc
===
--- code/gazebo/branches/simpar/plugins/ball_drop.cc2010-10-01 21:56:40 UTC
(rev 8928)
+++ code/gazebo/branches/simpar/plugins/ball_drop.cc2010-10-01 21:57:32 UTC
(rev 8929)
@@ -12,17 +12,17 @@
{
this-sphere = NULL;
this-model_name = sphere;
- //this-SpawnBall(0,0,5);
+ this-SpawnBall(0,0,5);
//for (double i=0.001; i 1e-5; i*=0.5)
- this-stepTimes.push_back(0.1);
+ this-stepTimes.push_back(0.001);
//for (unsigned int i=10; i=100; i+=10)
- this-stepIters.push_back(10);
+ this-stepIters.push_back(100);
- //this-stepTypes.push_back(robust);
+ this-stepTypes.push_back(robust);
this-stepTypes.push_back(world);
- //this-stepTypes.push_back(quick);
+ this-stepTypes.push_back(quick);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
@@ -73,7 +73,7 @@
modelbody:sphere name='body';
model geom:sphere name='geom';
modelsize0.25/size;
- modelmass10/mass;
+ modelmass1/mass;
modelkp1.0/kp;
modelkd1.0/kd;
modelbounce0/bounce;
@@ -137,7 +137,8 @@
Time realTime = Simulator::Instance()-GetRealTime();
Pose3d pose = this-sphere-GetWorldPose();
-if ( fabs(prev_z - pose.pos.z) = 1e-5 )
+double diff = fabs(prev_z - pose.pos.z);
+if ( diff = 1e-4 )
this-prevTime = realTime;
this-prev_z = pose.pos.z;
@@ -153,7 +154,7 @@
{
if (LOG)
{
- // Logger::Instance()-RemoveLog(sphere);
+Logger::Instance()-RemoveLog(sphere);
std::string mv_cmd = std::string(mv
[Playerstage-commit] SF.net SVN: playerstage:[8923] code/gazebo/branches/wx
Revision: 8923
http://playerstage.svn.sourceforge.net/playerstage/?rev=8923view=rev
Author: natepak
Date: 2010-09-29 15:43:52 + (Wed, 29 Sep 2010)
Log Message:
---
Improved shadows
Modified Paths:
--
code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
code/gazebo/branches/wx/server/rendering/Light.cc
code/gazebo/branches/wx/worlds/empty.world
Added Paths:
---
code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/perpixel_vp.glsl
Modified: code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
===
--- code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-28 23:23:25 UTC (rev 8922)
+++ code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-29 15:43:52 UTC (rev 8923)
@@ -8,6 +8,8 @@
point_receiver_fp.glsl
ambient_one_texture_vp.glsl
blur.glsl
+ perpixel_vp.glsl
+ perpixel_fp.glsl
)
INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/materials/programs/)
Modified:
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
===
---
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
2010-09-28 23:23:25 UTC (rev 8922)
+++
code/gazebo/branches/wx/Media/materials/programs/directional_shadow_receiver_vp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
@@ -18,10 +18,10 @@
gl_Position = world_view_proj_mat * gl_Vertex;
// Vertex in world space
- vertex_world_view_pos = (world_view_mat * gl_Vertex).xyz;
+ //vertex_world_view_pos = (world_view_mat * gl_Vertex).xyz;
// Vertex normal in world space
- vertex_world_norm = (inv_trans_world_view_mat * vec4(gl_Normal, 1.0)).xyz;
+ //vertex_world_norm = (inv_trans_world_view_mat * vec4(gl_Normal, 1.0)).xyz;
shadow_distance = gl_Position.z;
Added: code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
(rev 0)
+++ code/gazebo/branches/wx/Media/materials/programs/perpixel_fp.glsl
2010-09-29 15:43:52 UTC (rev 8923)
@@ -0,0 +1,75 @@
+uniform vec3 derived_light_diffuse_color;
+uniform vec4 derived_light_specular_color;
+uniform float surface_shininess;
+
+uniform vec4 light_position_view_space;
+uniform vec4 light_direction_view_space;
+uniform vec4 light_attenuation;
+uniform vec4 spotlight_params;
+
+uniform sampler2D diffuse_map;
+
+varying vec3 vertex_world_view_pos;
+varying vec3 vertex_world_norm;
+
+void main()
+{
+ float spot = 1.0;
+ float specular = 0.0;
+
+ // Normalized fragment normal
+ vec3 norm = normalize(vertex_world_norm);
+
+ // Direction from the fragment to the light
+ vec3 light_dir_view = light_position_view_space.xyz -
+vertex_world_view_pos.xyz *
light_position_view_space.w;
+
+ // light_position_view_space.w == 0 for directional lights
+ float light_dist = length(light_dir_view);
+ light_dir_view = normalize(light_dir_view);
+
+ float lambert_term = max( dot(norm, light_dir_view), 0.0 );
+
+
//
+ // COMPUTE DIFFUSE CONTRIBUTION
+ vec4 diffuse_tex = texture2D(diffuse_map, gl_TexCoord[0].st);
+ vec4 diffuse_contrib = vec4(derived_light_diffuse_color *
+ diffuse_tex.rgb * lambert_term,1.0);
+
+
+
//
+ // COMPUTE SPOT AND SPECULAR COMPONENTS
+ if (lambert_term 0.0)
+ {
+vec3 view = -normalize(vertex_world_view_pos.xyz);
+vec3 halfway = normalize( view + light_dir_view );
+float nDotH = dot(norm, halfway);
+
+float fAtten = 1.0 / (light_attenuation.y +
+ light_attenuation.z*light_dist +
+ light_attenuation.w*light_dist*light_dist);
+
+float fSpotT = 1.0;
+
+if (!(spotlight_params.x == 1.0 spotlight_params.y == 0.0
+ spotlight_params.z == 0.0 spotlight_params.w == 1.0))
+{
+ float rho = dot(-light_direction_view_space.xyz, light_dir_view);
+
+ float fSpotE = clamp((rho - spotlight_params.y) /
+ (spotlight_params.x - spotlight_params.y),0.0,1.0
[Playerstage-commit] SF.net SVN: playerstage:[8919] code/gazebo/branches/wx/Media/materials/ programs
Revision: 8919
http://playerstage.svn.sourceforge.net/playerstage/?rev=8919view=rev
Author: natepak
Date: 2010-09-22 20:50:29 + (Wed, 22 Sep 2010)
Log Message:
---
Renamed shadow receiver
Modified Paths:
--
code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
Added Paths:
---
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/spot_shadow_receiver_vp.glsl
Removed Paths:
-
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_vp.glsl
Modified: code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
2010-09-22 07:56:54 UTC (rev 8918)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
2010-09-22 20:50:29 UTC (rev 8919)
@@ -5,7 +5,8 @@
void main()
{
- float depth = length(vertexDepth.xyz)/500.0;
+ float depth = length(vertexDepth.xyz)/2.4;
+ //float depth = 0.1;
gl_FragColor = vec4(depth, depth*depth, 0.0, 1.0);
//gl_FragColor = vec4(d, d * d, 0.0, 1.0);
Modified: code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
2010-09-22 07:56:54 UTC (rev 8918)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
2010-09-22 20:50:29 UTC (rev 8919)
@@ -1,8 +1,8 @@
uniform mat4 wvpMat;
-uniform mat4 wvMat;
-uniform mat4 pMat;
-uniform vec4 texel_offsets;
-uniform vec4 depth_range;
+//uniform mat4 wvMat;
+//uniform mat4 pMat;
+//uniform vec4 texel_offsets;
+//uniform vec4 depth_range;
attribute vec4 vertex;
@@ -13,7 +13,8 @@
{
vertexDepth = wvpMat * vertex;
//d = (vertexDepth.z - depthRange.x) * depthRange.w;
+ //d = vertexDepth.z;
- gl_Position = vertexDepth;
- gl_Position.xy += texel_offsets.zw * gl_Position.w;
+ gl_Position = wvpMat * vertex;
+ //gl_Position.xy += texel_offsets.zw * gl_Position.w;
}
Deleted:
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
2010-09-22 07:56:54 UTC (rev 8918)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
2010-09-22 20:50:29 UTC (rev 8919)
@@ -1,121 +0,0 @@
-uniform vec4 invShadowMapSize;
-uniform vec3 derived_light_diffuse_color;
-uniform vec4 derived_light_specular_color;
-uniform float surface_shininess;
-
-uniform vec4 light_position_view_space;
-uniform vec4 light_position_world_space;
-uniform vec4 light_direction_view_space;
-uniform vec4 light_attenuation;
-uniform vec4 spotlight_params;
-
-uniform float light_casts_shadows;
-
-uniform sampler2D shadowMap;
-uniform sampler2D diffuseMap;
-
-varying vec3 vertexWorldViewPos;
-varying vec3 vertexWorldPos;
-varying vec3 vertexWorldNorm;
-varying vec4 vertexLightPos;
-
-vec4 Blur(sampler2D map, vec2 uv, float radius, float steps)
-{
- float stepSize = 2.0 * radius / steps;
- uv.xy -= vec2(radius);
-
- vec4 total = vec4(0.0, 0.0, 0.0, 0.0);
- for (float x = 0.0; x steps; x+=1.0)
-for (float y = 0.0; y steps; y+=1.0)
- total +=
-texture2D(map, vec2(uv.xy + vec2(x * stepSize, y * stepSize)));
-
- return total / (steps * steps);
-}
-
-float ShadowPCF()
-{
- // Get the shadow map position
- vec4 shadowMapPos = vertexLightPos / vertexLightPos.w;
- vec2 uv = shadowMapPos.xy;
-
- float dist = length(light_position_world_space.xyz - vertexWorldPos)/500.0;
-
- vec2 c = Blur(shadowMap, uv, invShadowMapSize.x, 4.0).xy;
-
- if ( dist = c.x + 0.0001)
-return 1.0;
-
- // standard variance shadow mapping code
- float variance = min(max( c.y - (c.x * c.x), 0.0), 1.0);
- float m_d = c.x - dist;
- float p = variance / (variance + m_d * m_d);
-
- return smoothstep(0.3, 1.0, p);
-}
-
-
-void main()
-{
- float spot = 1.0;
- float shadowFactor = 1.0;
- float specular = 0.0;
-
- // Normalized fragment normal
- vec3 N = normalize(vertexWorldNorm);
-
- // Direction from the fragment to the light
- vec3 lightDirView = light_position_view_space.xyz - vertexWorldViewPos.xyz *
light_position_view_space.w;
-
- // light_position_view_space.w == 0 for directional lights
- float lightDist = length(lightDirView);
- lightDirView = normalize(lightDirView);
-
- float lambertTerm = max( dot(N, lightDirView), 0.0 );
-
-
//
- // COMPUTE DIFFUSE CONTRIBUTION
- vec4 diffuseTex = texture2D
[Playerstage-commit] SF.net SVN: playerstage:[8915] code/gazebo/branches/wx
Revision: 8915
http://playerstage.svn.sourceforge.net/playerstage/?rev=8915view=rev
Author: natepak
Date: 2010-09-21 20:46:40 + (Tue, 21 Sep 2010)
Log Message:
---
Improved spot light shadows
Modified Paths:
--
code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
code/gazebo/branches/wx/Media/materials/scripts/blur.material
code/gazebo/branches/wx/Media/materials/scripts/shadow_caster.material
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
code/gazebo/branches/wx/server/physics/PlaneShape.cc
code/gazebo/branches/wx/server/rendering/Light.cc
code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc
code/gazebo/branches/wx/server/rendering/OgreCamera.cc
code/gazebo/branches/wx/server/rendering/OgreCreator.cc
code/gazebo/branches/wx/server/rendering/Scene.cc
code/gazebo/branches/wx/server/rendering/Scene.hh
code/gazebo/branches/wx/server/wx/SimulationFrame.cc
code/gazebo/branches/wx/server/wx/SpotLightMaker.cc
code/gazebo/branches/wx/worlds/empty.world
Modified: code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
===
--- code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,8 +1,8 @@
-SET (files pssm_vsm_caster_fp.glsl
- pssm_vsm_caster_vp.glsl
- pssm_vsm_receiver_fp.glsl
- pssm_vsm_receiver_vp.glsl
- AmbientOneTexture.glsl
+SET (files shadow_caster_fp.glsl
+ shadow_caster_vp.glsl
+ shadow_receiver_fp.glsl
+ shadow_receiver_vp.glsl
+ ambient_one_texture_vp.glsl
blur.glsl
)
Modified: code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,11 +1,12 @@
-uniform float far;
+//uniform float far;
varying vec4 vertexDepth;
+//varying float d;
void main()
{
- //float depth = length(vertexDepth.z) / far;
- //gl_FragColor = vec4(depth, depth*depth, 0.0, 1.0);
-
- gl_FragColor = vec4(vertexDepth.x, vertexDepth.x, vertexDepth.x, 1.0);
+ float depth = length(vertexDepth.xyz)/500.0;
+ gl_FragColor = vec4(depth, depth*depth, 0.0, 1.0);
+
+ //gl_FragColor = vec4(d, d * d, 0.0, 1.0);
}
Modified: code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
2010-09-21 20:46:40 UTC (rev 8915)
@@ -1,15 +1,19 @@
uniform mat4 wvpMat;
+uniform mat4 wvMat;
+uniform mat4 pMat;
uniform vec4 texel_offsets;
uniform vec4 depth_range;
attribute vec4 vertex;
varying vec4 vertexDepth;
+//varying float d;
void main()
{
- gl_Position = wvpMat * vertex;
+ vertexDepth = wvpMat * vertex;
+ //d = (vertexDepth.z - depthRange.x) * depthRange.w;
+
+ gl_Position = vertexDepth;
gl_Position.xy += texel_offsets.zw * gl_Position.w;
-
- vertexDepth.x = (gl_Position.z - depth_range.x) * depth_range.w;
}
Modified:
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
2010-09-20 21:58:33 UTC (rev 8914)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
2010-09-21 20:46:40 UTC (rev 8915)
@@ -4,6 +4,7 @@
uniform float surface_shininess;
uniform vec4 light_position_view_space;
+uniform vec4 light_position_world_space;
uniform vec4 light_direction_view_space;
uniform vec4 light_attenuation;
uniform vec4 spotlight_params;
@@ -16,85 +17,42 @@
varying vec3 vertexWorldNorm;
varying vec4 vertexLightPos;
+vec4 Blur(sampler2D map, vec2 uv, float radius, float steps)
+{
+ float stepSize = 2.0 * radius / steps;
+ uv.xy -= vec2(radius);
+
+ vec4 total = vec4(0.0, 0.0, 0.0, 0.0);
+ for (float x = 0.0; x steps; x+=1.0)
+for (float y = 0.0; y
[Playerstage-commit] SF.net SVN: playerstage:[8916] code/gazebo/branches/wx/server/rendering/ Light.cc
Revision: 8916 http://playerstage.svn.sourceforge.net/playerstage/?rev=8916view=rev Author: natepak Date: 2010-09-21 20:52:53 + (Tue, 21 Sep 2010) Log Message: --- Updates Modified Paths: -- code/gazebo/branches/wx/server/rendering/Light.cc Modified: code/gazebo/branches/wx/server/rendering/Light.cc === --- code/gazebo/branches/wx/server/rendering/Light.cc 2010-09-21 20:46:40 UTC (rev 8915) +++ code/gazebo/branches/wx/server/rendering/Light.cc 2010-09-21 20:52:53 UTC (rev 8916) @@ -46,7 +46,7 @@ this-specularP = new ParamTColor(specularColor, Color(.1, .1, .1), 0); this-specularP-Callback(Light::SetSpecularColor, this); - this-directionP = new ParamTVector3(direction, Vector3(0, 0, 1), 0); + this-directionP = new ParamTVector3(direction, Vector3(0, 0, -1), 0); this-directionP-Callback(Light::SetDirection, this); this-attenuationP = new ParamTVector3(attenuation, Vector3(.1, 0.01, .001), 1); This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing. http://p.sf.net/sfu/novell-sfdev2dev ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8917] code/gazebo/branches/wx
Revision: 8917
http://playerstage.svn.sourceforge.net/playerstage/?rev=8917view=rev
Author: natepak
Date: 2010-09-21 21:33:15 + (Tue, 21 Sep 2010)
Log Message:
---
Point lights no longer cast shadows
Modified Paths:
--
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
code/gazebo/branches/wx/server/rendering/Light.cc
Modified:
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
2010-09-21 20:52:53 UTC (rev 8916)
+++ code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
2010-09-21 21:33:15 UTC (rev 8917)
@@ -9,6 +9,8 @@
uniform vec4 light_attenuation;
uniform vec4 spotlight_params;
+uniform float light_casts_shadows;
+
uniform sampler2D shadowMap;
uniform sampler2D diffuseMap;
@@ -56,6 +58,7 @@
void main()
{
float spot = 1.0;
+ float shadowFactor = 1.0;
float specular = 0.0;
// Normalized fragment normal
@@ -108,9 +111,11 @@
//
// COMPUTE SHADOW CONTRIBUTION
- float shadowAmount = ShadowPCF();
+ //shadowFactor = ShadowPCF();
+ if (light_casts_shadows)
+shadowFactor = ShadowPCF();
vec4 specularContrib = specular * derived_light_specular_color;
- gl_FragColor = (diffuseContrib + specularContrib) * shadowAmount * spot;
+ gl_FragColor = (diffuseContrib+ specularContrib) * spot * shadowFactor;
}
Modified:
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
===
--- code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
2010-09-21 20:52:53 UTC (rev 8916)
+++ code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
2010-09-21 21:33:15 UTC (rev 8917)
@@ -35,6 +35,7 @@
param_named_auto light_attenuation light_attenuation 0
param_named_auto spotlight_params spotlight_params 0
+param_named_auto light_casts_shadows light_casts_shadows 0
param_named shadowMap int 1
param_named diffuseMap int 0
}
@@ -72,7 +73,7 @@
ambient 0 0 0
diffuse 1 1 1
- specular .5 .5 .5 128
+ specular 1 1 1 128
vertex_program_ref receiver_vp_glsl
{
Modified: code/gazebo/branches/wx/server/rendering/Light.cc
===
--- code/gazebo/branches/wx/server/rendering/Light.cc 2010-09-21 20:52:53 UTC
(rev 8916)
+++ code/gazebo/branches/wx/server/rendering/Light.cc 2010-09-21 21:33:15 UTC
(rev 8917)
@@ -396,10 +396,15 @@
/// Set cast shadowsj
void Light::SetCastShadows(const bool cast)
{
- if (**this-castShadowsP != cast)
-this-castShadowsP-SetValue( cast );
+ if (this-light-getType() == Ogre::Light::LT_POINT)
+this-light-setCastShadows(false);
+ else
+ {
+if (**this-castShadowsP != cast)
+ this-castShadowsP-SetValue( cast );
- this-light-setCastShadows(cast);
+this-light-setCastShadows(cast);
+ }
}
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
--
Start uncovering the many advantages of virtual appliances
and start using them to simplify application deployment and
accelerate your shift to cloud computing.
http://p.sf.net/sfu/novell-sfdev2dev
___
Playerstage-commit mailing list
Playerstage-commit@lists.sourceforge.net
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[Playerstage-commit] SF.net SVN: playerstage:[8914] code/gazebo/branches/wx/Media/materials/ programs
Revision: 8914
http://playerstage.svn.sourceforge.net/playerstage/?rev=8914view=rev
Author: natepak
Date: 2010-09-20 21:58:33 + (Mon, 20 Sep 2010)
Log Message:
---
Renamed glsl programs
Added Paths:
---
code/gazebo/branches/wx/Media/materials/programs/ambient_one_texture_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_caster_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_caster_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/shadow_receiver_vp.glsl
Removed Paths:
-
code/gazebo/branches/wx/Media/materials/programs/Ambient.frag
code/gazebo/branches/wx/Media/materials/programs/Ambient.vert
code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.frag
code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.glsl
code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.vert
code/gazebo/branches/wx/Media/materials/programs/DepthMap.frag
code/gazebo/branches/wx/Media/materials/programs/DepthMap.vert
code/gazebo/branches/wx/Media/materials/programs/DepthShadowmapCasterFp.glsl
code/gazebo/branches/wx/Media/materials/programs/DepthShadowmapCasterVp.glsl
code/gazebo/branches/wx/Media/materials/programs/DepthShadowmapReceiverFp.glsl
code/gazebo/branches/wx/Media/materials/programs/DepthShadowmapReceiverVp.glsl
code/gazebo/branches/wx/Media/materials/programs/DirectionalLight.frag
code/gazebo/branches/wx/Media/materials/programs/DirectionalLight.vert
code/gazebo/branches/wx/Media/materials/programs/PointLight.frag
code/gazebo/branches/wx/Media/materials/programs/PointLight.vert
code/gazebo/branches/wx/Media/materials/programs/SpotLight.frag
code/gazebo/branches/wx/Media/materials/programs/SpotLight.vert
code/gazebo/branches/wx/Media/materials/programs/pssm.cg
code/gazebo/branches/wx/Media/materials/programs/pssm.hlsl
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_caster_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_caster_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_receiver_vp.glsl
Deleted: code/gazebo/branches/wx/Media/materials/programs/Ambient.frag
===
--- code/gazebo/branches/wx/Media/materials/programs/Ambient.frag
2010-09-20 21:55:19 UTC (rev 8913)
+++ code/gazebo/branches/wx/Media/materials/programs/Ambient.frag
2010-09-20 21:58:33 UTC (rev 8914)
@@ -1,4 +0,0 @@
-void main()
-{
- gl_FragColor = vec4(0.0, 1.0, 0.0, 1.0);
-}
Deleted: code/gazebo/branches/wx/Media/materials/programs/Ambient.vert
===
--- code/gazebo/branches/wx/Media/materials/programs/Ambient.vert
2010-09-20 21:55:19 UTC (rev 8913)
+++ code/gazebo/branches/wx/Media/materials/programs/Ambient.vert
2010-09-20 21:58:33 UTC (rev 8914)
@@ -1,7 +0,0 @@
-
-void main()
-{
- gl_Position = ftransform();
- //gl_TexCoord[0] = gl_MultiTexCoord0;
- gl_FrontColor = gl_Color;
-}
Deleted: code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.frag
===
--- code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.frag
2010-09-20 21:55:19 UTC (rev 8913)
+++ code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.frag
2010-09-20 21:58:33 UTC (rev 8914)
@@ -1,13 +0,0 @@
-// if you want to use more textures, don't forget to define them there
-uniform sampler2D diffuse_map;
-//uniform sampler2D diffuse_map2;
-//uniform sampler2D diffuse_map3;
-//uniform sampler2D diffuse_map4;
-
-varying float fogFactor;
-
-void main()
-{
- vec4 color = texture2D( diffuse_map, gl_TexCoord[ 0 ].st ) * gl_Color;
- gl_FragColor = mix( vec4(gl_Fog.color), color, fogFactor);
-}
Deleted: code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.glsl
2010-09-20 21:55:19 UTC (rev 8913)
+++ code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.glsl
2010-09-20 21:58:33 UTC (rev 8914)
@@ -1,13 +0,0 @@
-uniform vec4 ambient;
-
-/*
- Basic ambient lighting vertex program
-*/
-void main()
-{
- gl_Position = ftransform();
- gl_TexCoord[0] = gl_MultiTexCoord0;
- gl_FrontColor = ambient;
-}
-
-
Deleted: code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.vert
===
--- code/gazebo/branches/wx/Media/materials/programs/AmbientOneTexture.vert
2010-09-20 21:55:19 UTC (rev 8913)
+++ code/gazebo/branches/wx/Media
[Playerstage-commit] SF.net SVN: playerstage:[8906] code/gazebo/branches/wx/Media/materials
Revision: 8906
http://playerstage.svn.sourceforge.net/playerstage/?rev=8906view=rev
Author: natepak
Date: 2010-09-15 15:42:21 + (Wed, 15 Sep 2010)
Log Message:
---
Updates
Modified Paths:
--
code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_caster_vp.glsl
code/gazebo/branches/wx/Media/materials/scripts/CMakeLists.txt
code/gazebo/branches/wx/Media/materials/scripts/Gazebo.material
Added Paths:
---
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_receiver_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_receiver_vp.glsl
code/gazebo/branches/wx/Media/materials/scripts/shadow_receiver.material
Removed Paths:
-
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_diffuse_fp.glsl
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_diffuse_fp.glsl.bak
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_diffuse_vp.glsl
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_diffuse_vp.glsl.bak
code/gazebo/branches/wx/Media/materials/scripts/diffuse.material
code/gazebo/branches/wx/Media/materials/scripts/pssm.material
code/gazebo/branches/wx/Media/materials/scripts/pssm.material.old
code/gazebo/branches/wx/Media/materials/scripts/pssm_ogre.material
Modified: code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
===
--- code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-15 02:29:40 UTC (rev 8905)
+++ code/gazebo/branches/wx/Media/materials/programs/CMakeLists.txt
2010-09-15 15:42:21 UTC (rev 8906)
@@ -1,18 +1,9 @@
-SET (files PointLight.vert
- PointLight.frag
- DepthMap.frag
- DepthMap.vert
- pssm_vsm_caster_fp.glsl
+SET (files pssm_vsm_caster_fp.glsl
pssm_vsm_caster_vp.glsl
- pssm_vsm_diffuse_fp.glsl
- pssm_vsm_diffuse_vp.glsl
- DepthShadowmapCasterFp.glsl
- DepthShadowmapCasterVp.glsl
- DepthShadowmapReceiverFp.glsl
- DepthShadowmapReceiverVp.glsl
+ pssm_vsm_receiver_fp.glsl
+ pssm_vsm_receiver_vp.glsl
AmbientOneTexture.glsl
- blur.glsl
- )
+)
INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/materials/programs/)
Modified:
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_caster_vp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_caster_vp.glsl
2010-09-15 02:29:40 UTC (rev 8905)
+++ code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_caster_vp.glsl
2010-09-15 15:42:21 UTC (rev 8906)
@@ -1,4 +1,3 @@
-uniform mat4 pMat;
uniform mat4 wvMat;
varying vec4 vertexDepth;
@@ -7,8 +6,5 @@
{
vertexDepth = wvMat * gl_Vertex;
- //gl_Position = (pMat * vertexDepth).xyzw;
-
- // pass the vertex position, transforming it to clip space
gl_Position = ftransform();
}
Deleted:
code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_diffuse_fp.glsl
===
--- code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_diffuse_fp.glsl
2010-09-15 02:29:40 UTC (rev 8905)
+++ code/gazebo/branches/wx/Media/materials/programs/pssm_vsm_diffuse_fp.glsl
2010-09-15 15:42:21 UTC (rev 8906)
@@ -1,89 +0,0 @@
-uniform vec3 lightDif0;
-uniform vec4 lightPos0;
-uniform vec4 lightAtt0;
-uniform vec4 invSMSize;
-uniform vec4 depthRange;
-uniform vec4 spotlightParams;
-uniform sampler2D dMap;
-uniform sampler2D shadowMap;
-
-varying vec4 vertexWorldPosition;
-varying vec4 lightPosition0;
-varying vec3 vertexNormal;
-varying vec3 sdir;
-
-vec2 btex2D_rg(sampler2D map, vec2 uv, float radius, vec2 offset)
-{
- // simple 3x3 filter
- vec2 o = offset;
- vec2 c = texture2D(map, uv.xy).rg; // center
- c += texture2D(map, uv.xy - o.xy).rg; // top left
- c += texture2D(map, uv.xy + o.xy).rg; // bottom right
- c += texture2D(map, vec2(uv.x - o.x, uv.y)).rg; // left
- c += texture2D(map, vec2(uv.x + o.x, uv.y)).rg; // right
- c += texture2D(map, vec2(uv.x, uv.y + o.y)).rg; // bottom
- c += texture2D(map, vec2(uv.x, uv.y - o.y)).rg; // top
- c += texture2D(map, vec2(uv.x - o.x, uv.y + o.y)).rg; // bottom left
- c += texture2D(map, vec2(uv.x + o.x, uv.y - o.y)).rg; // top right
- return c / 9.0;
-}
-
-float shadow(in sampler2D shadowMap, in vec4 shadowMapPos, float ourDepth,
float radius, vec2 offset)
-{
- vec2 suv = shadowMapPos.xy / shadowMapPos.w;
-
- vec2 moments = btex2D_rg(shadowMap, suv, radius, offset);
-
- float litFactor = (ourDepth = moments.x ? 1.0 : 0.0);
-
- // standard variance shadow mapping code
- float E_x2 = moments.y;
- float Ex_2 = moments.x * moments.x
[Playerstage-commit] SF.net SVN: playerstage:[8841] code/gazebo/branches/wx/server/wx
Revision: 8841
http://playerstage.svn.sourceforge.net/playerstage/?rev=8841view=rev
Author: natepak
Date: 2010-07-30 15:16:51 + (Fri, 30 Jul 2010)
Log Message:
---
Added more menu items
Modified Paths:
--
code/gazebo/branches/wx/server/wx/RenderPanel.cc
code/gazebo/branches/wx/server/wx/RenderPanel.hh
code/gazebo/branches/wx/server/wx/SimulationFrame.cc
code/gazebo/branches/wx/server/wx/SimulationFrame.hh
Modified: code/gazebo/branches/wx/server/wx/RenderPanel.cc
===
--- code/gazebo/branches/wx/server/wx/RenderPanel.cc2010-07-29 14:44:49 UTC
(rev 8840)
+++ code/gazebo/branches/wx/server/wx/RenderPanel.cc2010-07-30 15:16:51 UTC
(rev 8841)
@@ -43,6 +43,8 @@
Connect( wxEVT_MOUSEWHEEL, wxMouseEventHandler( RenderPanel::OnMouseEvent ),
NULL, this );
Connect( wxEVT_LEFT_DCLICK, wxMouseEventHandler( RenderPanel::OnMouseEvent
), NULL, this );
+ Connect( wxEVT_KEY_UP, wxKeyEventHandler(RenderPanel::OnCharEvent), NULL,
this);
+
Events::ConnectCreateEntitySignal( boost::bind(RenderPanel::CreateEntity,
this, _1) );
}
@@ -94,6 +96,15 @@
return handle;
}
+
+// On char event
+void RenderPanel::OnCharEvent( wxKeyEvent event)
+{
+ printf(Key Event\n);
+}
+
+
+// On mouse event callback
void RenderPanel::OnMouseEvent( wxMouseEvent event)
{
this-mouseEvent.pos.Set( event.GetX(), event.GetY() );
@@ -138,6 +149,8 @@
this-mouseEvent.prevPos = this-mouseEvent.pos;
}
+
+// Reparent the window
bool RenderPanel::Reparent(wxWindowBase* new_parent)
{
bool ret = true;
Modified: code/gazebo/branches/wx/server/wx/RenderPanel.hh
===
--- code/gazebo/branches/wx/server/wx/RenderPanel.hh2010-07-29 14:44:49 UTC
(rev 8840)
+++ code/gazebo/branches/wx/server/wx/RenderPanel.hh2010-07-30 15:16:51 UTC
(rev 8841)
@@ -36,6 +36,8 @@
public: void OnMouseEvent( wxMouseEvent event);
+public: void OnCharEvent( wxKeyEvent event);
+
public: void Init();
/// \brief Create the camera
Modified: code/gazebo/branches/wx/server/wx/SimulationFrame.cc
===
--- code/gazebo/branches/wx/server/wx/SimulationFrame.cc2010-07-29
14:44:49 UTC (rev 8840)
+++ code/gazebo/branches/wx/server/wx/SimulationFrame.cc2010-07-30
15:16:51 UTC (rev 8841)
@@ -36,6 +36,7 @@
wxMenuBar *menuBar = new wxMenuBar;
wxMenu *fileMenu = new wxMenu;
+ wxMenu *viewMenu = new wxMenu;
wxMenuItem *openItem = fileMenu-Append(ID_OPEN, wxT(Open\tCtrl-O) );
Connect(openItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnOpen), NULL, this);
@@ -49,7 +50,33 @@
wxMenuItem *quitItem = fileMenu-Append(wxID_EXIT, wxT(Quit\tCtrl-Q) );
Connect(quitItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnQuit), NULL, this);
+
+
+
+ wxMenuItem *wireItem = viewMenu-AppendCheckItem(ID_WIREFRAME,
wxT(Wireframe));
+ Connect(wireItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnWireframe), NULL, this);
+
+ wxMenuItem *showPhysicsItem= viewMenu-AppendCheckItem(ID_PHYSICS, wxT(Show
Physics));
+ Connect(showPhysicsItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnShowPhysics), NULL, this);
+
+ wxMenuItem *showBoundingBoxesItem= viewMenu-AppendCheckItem(ID_BOUNDING,
wxT(Show Bounding Boxes));
+ Connect(showBoundingBoxesItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnShowBoundingBoxes), NULL, this);
+
+ wxMenuItem *showJointsItem= viewMenu-AppendCheckItem(ID_JOINTS, wxT(Show
Joints));
+ Connect(showJointsItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnShowJoints), NULL, this);
+
+ wxMenuItem *showContactsItem= viewMenu-AppendCheckItem(ID_CONTACTS,
wxT(Show Contacts));
+ Connect(showContactsItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnShowContacts), NULL, this);
+
+ wxMenuItem *showLightsItem= viewMenu-AppendCheckItem(ID_LIGHTS, wxT(Show
Lights));
+ Connect(showLightsItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnShowLights), NULL, this);
+
+ wxMenuItem *showCamerasItem= viewMenu-AppendCheckItem(ID_CAMERAS, wxT(Show
Cameras));
+ Connect(showCamerasItem-GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnShowCameras), NULL, this);
+
+
menuBar-Append( fileMenu, _(File) );
+ menuBar-Append( viewMenu, _(View) );
SetMenuBar( menuBar );
this-toolbar = NULL;
@@ -228,7 +255,7
[Playerstage-commit] SF.net SVN: playerstage:[8840] code/gazebo/branches/wx
Revision: 8840
http://playerstage.svn.sourceforge.net/playerstage/?rev=8840view=rev
Author: natepak
Date: 2010-07-29 14:44:49 + (Thu, 29 Jul 2010)
Log Message:
---
Fixed loading of world files
Modified Paths:
--
code/gazebo/branches/wx/libgazebo/Server.cc
code/gazebo/branches/wx/server/Simulator.cc
code/gazebo/branches/wx/server/World.cc
code/gazebo/branches/wx/server/rendering/Light.cc
code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc
code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc
Modified: code/gazebo/branches/wx/libgazebo/Server.cc
===
--- code/gazebo/branches/wx/libgazebo/Server.cc 2010-07-29 01:11:17 UTC (rev
8839)
+++ code/gazebo/branches/wx/libgazebo/Server.cc 2010-07-29 14:44:49 UTC (rev
8840)
@@ -61,24 +61,7 @@
// Destroy a server
Server::~Server()
{
- if (rmdir(this-filename.c_str()))
- {
-std::cerr Error deleting directory\n;
-/*if (errno == EEXIST)
-{
- errStream directory [ this-filename
-] already exists (previous crash?)
- remove the directory and re-run gazebo;
- throw(errStream.str());
-}
-else
-{
- errStream failed to create [ this-filename ] : [
-strerror(errno) ];
- throw(errStream.str());
-}
-*/
- }
+ this-Fini();
}
@@ -200,6 +183,7 @@
{
std::ostringstream stream;
stream error deleting pid file: strerror(errno);
+std::cerr stream.str();
throw(stream.str());
}
Modified: code/gazebo/branches/wx/server/Simulator.cc
===
--- code/gazebo/branches/wx/server/Simulator.cc 2010-07-29 01:11:17 UTC (rev
8839)
+++ code/gazebo/branches/wx/server/Simulator.cc 2010-07-29 14:44:49 UTC (rev
8840)
@@ -711,7 +711,6 @@
Time lastTime = this-GetRealTime();
struct timespec req, rem;
-
while (!this-physicsQuit)
{
//DiagnosticTimer timer(PhysicsLoop Timer );
Modified: code/gazebo/branches/wx/server/World.cc
===
--- code/gazebo/branches/wx/server/World.cc 2010-07-29 01:11:17 UTC (rev
8839)
+++ code/gazebo/branches/wx/server/World.cc 2010-07-29 14:44:49 UTC (rev
8840)
@@ -103,6 +103,7 @@
(*iter) = NULL;
}
}
+ this-models.clear();
if (this-physicsEngine)
{
@@ -117,6 +118,14 @@
delete this-simIface;
this-simIface = NULL;
}
+
+if (this-graphics)
+ delete this-graphics;
+this-graphics = NULL;
+
+if (this-factory)
+ delete this-factory;
+this-factory = NULL;
}
catch (std::string e)
{
@@ -129,12 +138,7 @@
this-server =NULL;
}
- if (this-factory)
- {
-delete this-factory;
-this-factory = NULL;
- }
-
+ /*
if (this-saveStateTimeoutP)
delete this-saveStateTimeoutP;
this-saveStateTimeoutP = NULL;
@@ -146,6 +150,7 @@
if (this-threadsP)
delete this-threadsP;
this-threadsP = NULL;
+ */
#ifdef USE_THREADPOOL
if (this-threadPool)
Modified: code/gazebo/branches/wx/server/rendering/Light.cc
===
--- code/gazebo/branches/wx/server/rendering/Light.cc 2010-07-29 01:11:17 UTC
(rev 8839)
+++ code/gazebo/branches/wx/server/rendering/Light.cc 2010-07-29 14:44:49 UTC
(rev 8840)
@@ -71,6 +71,9 @@
/// Destructor
Light::~Light()
{
+ if (this-light)
+OgreAdaptor::Instance()-sceneMgr-destroyLight(this-GetName());
+
delete this-line;
delete this-visual;
Modified: code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc
===
--- code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc 2010-07-29
01:11:17 UTC (rev 8839)
+++ code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc 2010-07-29
14:44:49 UTC (rev 8840)
@@ -106,6 +106,7 @@
if (this-frameListener)
delete this-frameListener;
this-frameListener = NULL;
+ this-Fini();
}
Modified: code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc
===
--- code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc 2010-07-29
01:11:17 UTC (rev 8839)
+++ code/gazebo/branches/wx/server/rendering/RTShaderSystem.cc 2010-07-29
14:44:49 UTC (rev 8840)
@@ -49,6 +49,7 @@
/// Destructor
RTShaderSystem::~RTShaderSystem()
{
+ this-Fini();
}
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
--
The Palm PDK Hot Apps
[Playerstage-commit] SF.net SVN: playerstage:[8836] code/gazebo/branches/wx
Revision: 8836
http://playerstage.svn.sourceforge.net/playerstage/?rev=8836view=rev
Author: natepak
Date: 2010-07-28 15:38:26 + (Wed, 28 Jul 2010)
Log Message:
---
Added more improvements to wx
Modified Paths:
--
code/gazebo/branches/wx/libgazebo/Server.cc
code/gazebo/branches/wx/server/Param.hh
code/gazebo/branches/wx/server/Simulator.cc
code/gazebo/branches/wx/server/Simulator.hh
code/gazebo/branches/wx/server/World.cc
code/gazebo/branches/wx/server/World.hh
code/gazebo/branches/wx/server/physics/PhysicsEngine.cc
code/gazebo/branches/wx/server/physics/PhysicsEngine.hh
code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.cc
code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.hh
code/gazebo/branches/wx/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/wx/server/physics/ode/ODEPhysics.hh
code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc
code/gazebo/branches/wx/server/wx/SimulationFrame.cc
code/gazebo/branches/wx/server/wx/SimulationFrame.hh
Modified: code/gazebo/branches/wx/libgazebo/Server.cc
===
--- code/gazebo/branches/wx/libgazebo/Server.cc 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/libgazebo/Server.cc 2010-07-28 15:38:26 UTC (rev
8836)
@@ -61,6 +61,24 @@
// Destroy a server
Server::~Server()
{
+ if (rmdir(this-filename.c_str()))
+ {
+std::cerr Error deleting directory\n;
+/*if (errno == EEXIST)
+{
+ errStream directory [ this-filename
+] already exists (previous crash?)
+ remove the directory and re-run gazebo;
+ throw(errStream.str());
+}
+else
+{
+ errStream failed to create [ this-filename ] : [
+strerror(errno) ];
+ throw(errStream.str());
+}
+*/
+ }
}
Modified: code/gazebo/branches/wx/server/Param.hh
===
--- code/gazebo/branches/wx/server/Param.hh 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/server/Param.hh 2010-07-28 15:38:26 UTC (rev
8836)
@@ -118,7 +118,7 @@
public: T GetValue() const;
/// \brief Set the value of the parameter
-public: void SetValue(const T value);
+public: void SetValue(const T value, bool callback=false);
public: inline T operator*() const {return value;}
@@ -238,9 +238,12 @@
//
/// Set the value of the parameter
templatetypename T
- void ParamTT::SetValue(const T v)
+ void ParamTT::SetValue(const T v, bool callback)
{
this-value = v;
+
+if (callback)
+ this-changeSignal(this-value);
}
}
Modified: code/gazebo/branches/wx/server/Simulator.cc
===
--- code/gazebo/branches/wx/server/Simulator.cc 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/server/Simulator.cc 2010-07-28 15:38:26 UTC (rev
8836)
@@ -97,8 +97,7 @@
// Constructor
Simulator::Simulator()
-: xmlFile(NULL),
- gui(NULL),
+: gui(NULL),
renderEngine(NULL),
gazeboConfig(NULL),
loaded(false),
@@ -111,6 +110,7 @@
renderUpdates(0),
stepInc(false),
userQuit(false),
+ physicsQuit(false),
guiEnabled(true),
renderEngineEnabled(true),
physicsEnabled(true),
@@ -133,12 +133,6 @@
this-gazeboConfig = NULL;
}
- if (this-xmlFile)
- {
-delete this-xmlFile;
-this-xmlFile = NULL;
- }
-
if (this-render_mutex)
{
delete this-render_mutex;
@@ -166,13 +160,6 @@
if (!this-loaded)
return;
- if (this-gui)
- {
-delete this-gui;
-this-gui = NULL;
- }
-
-
gazebo::World::Instance()-Close();
if (this-renderEngineEnabled)
@@ -193,14 +180,14 @@
}
// Load the world file
- this-xmlFile=new gazebo::XMLConfig();
+ XMLConfig *xmlFile=new gazebo::XMLConfig();
try
{
if (worldFileName.size())
- this-xmlFile-Load(worldFileName);
+ xmlFile-Load(worldFileName);
else
- this-xmlFile-LoadString(defaultWorld);
+ xmlFile-LoadString(defaultWorld);
}
catch (GazeboError e)
{
@@ -226,7 +213,6 @@
if (this-renderEngineEnabled)
OgreAdaptor::Instance()-Load(rootNode);
-
// Create and initialize the Gui
if (this-renderEngineEnabled this-guiEnabled)
{
@@ -250,15 +236,10 @@
}
// Create the GUI
- if (childNode || !rootNode)
+ if (!this-gui (childNode || !rootNode))
{
this-gui = new SimulationApp();
this-gui-Load();
-
-/*this-gui = new Gui(x, y, width, height, Gazebo);
-this-gui-Load(childNode);
-this-gui-CreateCameras();
-*/
}
}
catch
[Playerstage-commit] SF.net SVN: playerstage:[8835] code/gazebo/branches/wx/server/wx
Revision: 8835
http://playerstage.svn.sourceforge.net/playerstage/?rev=8835view=rev
Author: natepak
Date: 2010-07-27 14:49:44 + (Tue, 27 Jul 2010)
Log Message:
---
Added a pop-up menu for the tree browser
Modified Paths:
--
code/gazebo/branches/wx/server/wx/SimulationFrame.cc
code/gazebo/branches/wx/server/wx/SimulationFrame.hh
Modified: code/gazebo/branches/wx/server/wx/SimulationFrame.cc
===
--- code/gazebo/branches/wx/server/wx/SimulationFrame.cc2010-07-26
19:48:56 UTC (rev 8834)
+++ code/gazebo/branches/wx/server/wx/SimulationFrame.cc2010-07-27
14:49:44 UTC (rev 8835)
@@ -1,7 +1,9 @@
#include wx/aui/aui.h
-#include wx/treectrl.h
+#include stack
#include propgrid/propgrid.h
+#include OgreCamera.hh
+#include CameraManager.hh
#include World.hh
#include Entity.hh
#include Model.hh
@@ -46,6 +48,7 @@
this-propGrid-Connect( wxEVT_PG_CHANGED, wxPropertyGridEventHandler(
SimulationFrame::OnPropertyChanged), NULL, this);
Connect(this-treeCtrl-GetId(), wxEVT_COMMAND_TREE_SEL_CHANGED,
wxTreeEventHandler(SimulationFrame::OnTreeClick), NULL, this);
+ this-treeCtrl-Connect(wxEVT_COMMAND_TREE_ITEM_RIGHT_CLICK,
wxTreeEventHandler(SimulationFrame::OnTreeRightClick), NULL, this);
this-MakeToolbar();
@@ -67,6 +70,7 @@
Simulator::Instance()-ConnectPauseSignal(
boost::bind(SimulationFrame::OnPause, this, _1) );
World::Instance()-ConnectAddEntitySignal(
boost::bind(SimulationFrame::AddEntityCB, this, _1) );
+ World::Instance()-ConnectDeleteEntitySignal(
boost::bind(SimulationFrame::DeleteEntityCB, this, _1) );
}
@@ -123,6 +127,43 @@
}
+// Delete entity callback
+void SimulationFrame::DeleteEntityCB(const std::string name)
+{
+ this-treeCtrl-Delete( this-FindTreeItem(name) );
+}
+
+
+// Find an item in a tree
+wxTreeItemId SimulationFrame::FindTreeItem(const std::string name)
+{
+ std::stackwxTreeItemId items;
+
+ if (this-treeCtrl-GetRootItem().IsOk())
+items.push(this-treeCtrl-GetRootItem());
+
+ while (!items.empty())
+ {
+wxTreeItemId next = items.top();
+items.pop();
+
+if (next != this-treeCtrl-GetRootItem()
+ ((EntityTreeItemData*)this-treeCtrl-GetItemData(next))-name == name)
+ return next;
+
+wxTreeItemIdValue cookie;
+wxTreeItemId nextChild = this-treeCtrl-GetFirstChild(next, cookie);
+while (nextChild.IsOk())
+{
+ items.push(nextChild);
+ nextChild = this-treeCtrl-GetNextSibling(nextChild);
+}
+ }
+
+ return wxTreeItemId();
+}
+
+
void SimulationFrame::OnPause(bool pause)
{
if (pause)
@@ -291,6 +332,46 @@
}
+// Callback when an entity in the tree is clicked
+void SimulationFrame::OnTreeRightClick(wxTreeEvent event)
+{
+ EntityTreeItemData *data =
(EntityTreeItemData*)this-treeCtrl-GetItemData(event.GetItem());
+
+ if (data-name != World)
+ {
+wxMenu mnu;
+mnu.Append(0, wxT(Move to));
+mnu.Append(1, wxT(Modify));
+mnu.Append(2, wxT(Delete));
+mnu.Connect(wxEVT_COMMAND_MENU_SELECTED,
(wxObjectEventFunction)SimulationFrame::OnTreePopupClick, NULL, this);
+PopupMenu(mnu);
+ }
+}
+
+
+// When a popup menu item has been click in the tree widget
+void SimulationFrame::OnTreePopupClick( wxCommandEvent event )
+{
+ EntityTreeItemData *data =
(EntityTreeItemData*)this-treeCtrl-GetItemData(this-treeCtrl-GetSelection());
+
+ Entity *ent = World::Instance()-GetEntityByName(data-name);
+
+ if (ent)
+ {
+if (event.GetId() == 0)
+{
+ OgreCamera *cam = CameraManager::Instance()-GetActiveCamera();
+ if (cam)
+cam-MoveToEntity(ent);
+}
+else if (event.GetId() == 1)
+ World::Instance()-SetSelectedEntity(ent);
+else if (event.GetId() == 2)
+ World::Instance()-DeleteEntity(data-name);
+ }
+}
+
+
// On property changed event callback
void SimulationFrame::OnPropertyChanged(wxPropertyGridEvent event)
{
Modified: code/gazebo/branches/wx/server/wx/SimulationFrame.hh
===
--- code/gazebo/branches/wx/server/wx/SimulationFrame.hh2010-07-26
19:48:56 UTC (rev 8834)
+++ code/gazebo/branches/wx/server/wx/SimulationFrame.hh2010-07-27
14:49:44 UTC (rev 8835)
@@ -1,11 +1,10 @@
#include wx/wx.h
+#include wx/treectrl.h
class wxAuiManager;
class wxAuiManagerEvent;
class
[Playerstage-commit] SF.net SVN: playerstage:[8828] code/gazebo/branches/wx/server/wx
Revision: 8828
http://playerstage.svn.sourceforge.net/playerstage/?rev=8828view=rev
Author: natepak
Date: 2010-07-22 16:01:47 + (Thu, 22 Jul 2010)
Log Message:
---
More improvements to wx gazebo
Modified Paths:
--
code/gazebo/branches/wx/server/wx/RenderPanel.cc
code/gazebo/branches/wx/server/wx/RenderPanel.hh
code/gazebo/branches/wx/server/wx/SimulationFrame.cc
code/gazebo/branches/wx/server/wx/SimulationFrame.hh
Modified: code/gazebo/branches/wx/server/wx/RenderPanel.cc
===
--- code/gazebo/branches/wx/server/wx/RenderPanel.cc2010-07-21 22:23:22 UTC
(rev 8827)
+++ code/gazebo/branches/wx/server/wx/RenderPanel.cc2010-07-22 16:01:47 UTC
(rev 8828)
@@ -17,16 +17,22 @@
using namespace gazebo;
IMPLEMENT_CLASS(RenderPanel, wxControl)
+BEGIN_EVENT_TABLE(RenderPanel, wxControl)
+EVT_SIZE (RenderPanel::OnSize)
+END_EVENT_TABLE()
// Constructor
RenderPanel::RenderPanel(wxWindow *parent)
: wxControl(parent, wxID_ANY, wxDefaultPosition, wxSize(320,240),
wxSUNKEN_BORDER, wxDefaultValidator)
{
+
this-userCamera = NULL;
this-cursorState = default;
this-currMaker = NULL;
+ SetFocus();
+
Connect( wxEVT_LEFT_DOWN, wxMouseEventHandler( RenderPanel::OnMouseEvent ),
NULL, this );
Connect( wxEVT_MIDDLE_DOWN, wxMouseEventHandler( RenderPanel::OnMouseEvent
), NULL, this );
Connect( wxEVT_RIGHT_DOWN, wxMouseEventHandler( RenderPanel::OnMouseEvent ),
NULL, this );
@@ -101,10 +107,20 @@
this-mouseEvent.left = event.LeftIsDown() ? MouseEvent::DOWN :
MouseEvent::UP;
this-mouseEvent.right = event.RightIsDown() ? MouseEvent::DOWN :
MouseEvent::UP;
this-mouseEvent.middle = event.MiddleIsDown() ? MouseEvent::DOWN :
MouseEvent::UP;
+
+ if (event.GetWheelRotation() 0)
+ {
+this-mouseEvent.scroll.y = 1;
+this-mouseEvent.middle = MouseEvent::SCROLL;
+ }
+ else if (event.GetWheelRotation() 0)
+ {
+this-mouseEvent.scroll.y = -1;
+this-mouseEvent.middle = MouseEvent::SCROLL;
+ }
this-mouseEvent.dragging = event.Dragging();
-
if (this-currMaker)
{
if (event.LeftDown())
@@ -204,6 +220,7 @@
this-userCamera-Load(NULL);
}
+
void RenderPanel::Init()
{
Pose3d pose;
@@ -213,6 +230,7 @@
this-userCamera-SetWorldPose(pose);
}
+
void RenderPanel::CreateEntity(std::string name)
{
if (this-currMaker)
@@ -244,3 +262,17 @@
if (this-currMaker)
this-currMaker-Start();
}
+
+void RenderPanel::OnSize( wxSizeEvent evt )
+{
+ int width;
+ int height;
+ wxSize size = evt.GetSize ();
+ width = size.GetWidth ();
+ height = size.GetHeight ();
+
+ if (this-userCamera)
+this-userCamera-Resize(width,height);
+
+ evt.Skip();
+}
Modified: code/gazebo/branches/wx/server/wx/RenderPanel.hh
===
--- code/gazebo/branches/wx/server/wx/RenderPanel.hh2010-07-21 22:23:22 UTC
(rev 8827)
+++ code/gazebo/branches/wx/server/wx/RenderPanel.hh2010-07-22 16:01:47 UTC
(rev 8828)
@@ -19,6 +19,7 @@
class RenderPanel : public wxControl
{
DECLARE_CLASS(RenderPanel)
+DECLARE_EVENT_TABLE()
/// \brief Constructor
public: RenderPanel(wxWindow *parent);
@@ -40,8 +41,11 @@
/// \brief Create the camera
public: void CreateCamera();
+protected: virtual void OnSize( wxSizeEvent evt );
+
private: void CreateEntity(std::string name);
+
private: UserCamera *userCamera;
private: MouseEvent mouseEvent;
Modified: code/gazebo/branches/wx/server/wx/SimulationFrame.cc
===
--- code/gazebo/branches/wx/server/wx/SimulationFrame.cc2010-07-21
22:23:22 UTC (rev 8827)
+++ code/gazebo/branches/wx/server/wx/SimulationFrame.cc2010-07-22
16:01:47 UTC (rev 8828)
@@ -51,6 +51,20 @@
image.Load(cylinder_create_blue.png);
wxBitmap cylinder_bitmap(wxString::FromAscii(image.GetFilename().c_str()),
wxBITMAP_TYPE_PNG);
+ image.Load(pointlight.png);
+ wxBitmap pointlight_bitmap(wxString::FromAscii(image.GetFilename().c_str()),
wxBITMAP_TYPE_PNG);
+
+ image.Load(spotlight.png);
+ wxBitmap spotlight_bitmap(wxString::FromAscii(image.GetFilename().c_str()),
wxBITMAP_TYPE_PNG);
+
+ image.Load(directionallight.png);
+ wxBitmap
directionallight_bitmap(wxString::FromAscii(image.GetFilename().c_str()),
wxBITMAP_TYPE_PNG);
+
+ image.Load(cursor.png);
+ wxBitmap cursor_bitmap(wxString::FromAscii(image.GetFilename().c_str()),
wxBITMAP_TYPE_PNG);
+
+
+
this-toolbar = new wxToolBar(this, wxID_ANY, wxDefaultPosition,
wxDefaultSize, wxNO_BORDER|wxTB_HORIZONTAL);
this-toolbar-Connect
[Playerstage-commit] SF.net SVN: playerstage:[8827] code/gazebo/branches/wx
Revision: 8827
http://playerstage.svn.sourceforge.net/playerstage/?rev=8827view=rev
Author: natepak
Date: 2010-07-21 22:23:22 + (Wed, 21 Jul 2010)
Log Message:
---
Move improvements to the wx gui
Modified Paths:
--
code/gazebo/branches/wx/Media/materials/textures/box_create_blue.png
code/gazebo/branches/wx/Media/materials/textures/control_end_blue.png
code/gazebo/branches/wx/Media/materials/textures/control_pause_blue.png
code/gazebo/branches/wx/Media/materials/textures/control_play_blue.png
code/gazebo/branches/wx/Media/materials/textures/cylinder_create_blue.png
code/gazebo/branches/wx/Media/materials/textures/sphere_create_blue.png
code/gazebo/branches/wx/cmake/SearchForStuff.cmake
code/gazebo/branches/wx/server/Simulator.cc
code/gazebo/branches/wx/server/Simulator.hh
code/gazebo/branches/wx/server/main.cc
code/gazebo/branches/wx/server/rendering/Image.cc
code/gazebo/branches/wx/server/rendering/Image.hh
code/gazebo/branches/wx/server/rendering/OgreCreator.cc
code/gazebo/branches/wx/server/wx/CMakeLists.txt
code/gazebo/branches/wx/server/wx/RenderPanel.cc
code/gazebo/branches/wx/server/wx/RenderPanel.hh
code/gazebo/branches/wx/server/wx/SimulationApp.cc
code/gazebo/branches/wx/server/wx/SimulationApp.hh
code/gazebo/branches/wx/server/wx/SimulationFrame.cc
code/gazebo/branches/wx/server/wx/SimulationFrame.hh
Added Paths:
---
code/gazebo/branches/wx/server/wx/TimePanel.cc
code/gazebo/branches/wx/server/wx/TimePanel.hh
Modified: code/gazebo/branches/wx/Media/materials/textures/box_create_blue.png
===
(Binary files differ)
Modified: code/gazebo/branches/wx/Media/materials/textures/control_end_blue.png
===
(Binary files differ)
Modified:
code/gazebo/branches/wx/Media/materials/textures/control_pause_blue.png
===
(Binary files differ)
Modified: code/gazebo/branches/wx/Media/materials/textures/control_play_blue.png
===
(Binary files differ)
Modified:
code/gazebo/branches/wx/Media/materials/textures/cylinder_create_blue.png
===
(Binary files differ)
Modified:
code/gazebo/branches/wx/Media/materials/textures/sphere_create_blue.png
===
(Binary files differ)
Modified: code/gazebo/branches/wx/cmake/SearchForStuff.cmake
===
--- code/gazebo/branches/wx/cmake/SearchForStuff.cmake 2010-07-18 20:14:30 UTC
(rev 8826)
+++ code/gazebo/branches/wx/cmake/SearchForStuff.cmake 2010-07-21 22:23:22 UTC
(rev 8827)
@@ -339,7 +339,7 @@
# Find wxWidgets
-find_package(wxWidgets COMPONENTS base core gl)
+find_package(wxWidgets)
if (NOT wxWidgets_FOUND)
BUILD_ERROR (wxWidgets not found. See the following website:
http://www.wxwidgets.org;)
endif (NOT wxWidgets_FOUND)
Modified: code/gazebo/branches/wx/server/Simulator.cc
===
--- code/gazebo/branches/wx/server/Simulator.cc 2010-07-18 20:14:30 UTC (rev
8826)
+++ code/gazebo/branches/wx/server/Simulator.cc 2010-07-21 22:23:22 UTC (rev
8827)
@@ -121,6 +121,7 @@
this-startTime = this-GetWallTime();
this-gazeboConfig=new gazebo::GazeboConfig();
this-pause = false;
+
}
@@ -406,7 +407,7 @@
/// Main simulation loop, when this loop ends the simulation finish
-void Simulator::MainLoop()
+void Simulator::Run()
{
this-state = RUN;
@@ -419,14 +420,51 @@
this-physicsThread = new boost::thread(
boost::bind(Simulator::PhysicsLoop, this));
- // Update the gui
- while (!this-userQuit)
+ if (this-gui)
+this-gui-Run();
+ else
{
-currTime = this-GetWallTime();
-if ( currTime - lastTime 1.0/freq)
+while (!this-userQuit)
{
- lastTime = this-GetWallTime();
+ currTime = this-GetWallTime();
+ if ( currTime - lastTime 1.0/freq)
+ {
+lastTime = this-GetWallTime();
+this-GraphicsUpdate();
+currTime = this-GetWallTime();
+if (currTime - lastTime 1/freq)
+{
+ Time sleepTime = ( Time(1.0/freq) - (currTime - lastTime));
+ timeSpec.tv_sec = sleepTime.sec;
+ timeSpec.tv_nsec = sleepTime.nsec;
+
+ nanosleep(timeSpec, NULL);
+}
+ }
+ else
+ {
+Time sleepTime = ( Time(1.0/freq) - (currTime - lastTime));
+timeSpec.tv_sec = sleepTime.sec
[Playerstage-commit] SF.net SVN: playerstage:[8815] code/gazebo/trunk/server/GazeboConfig.cc
Revision: 8815 http://playerstage.svn.sourceforge.net/playerstage/?rev=8815view=rev Author: natepak Date: 2010-07-06 18:40:10 + (Tue, 06 Jul 2010) Log Message: --- More fixes to config paths Modified Paths: -- code/gazebo/trunk/server/GazeboConfig.cc Modified: code/gazebo/trunk/server/GazeboConfig.cc === --- code/gazebo/trunk/server/GazeboConfig.cc2010-07-06 18:10:34 UTC (rev 8814) +++ code/gazebo/trunk/server/GazeboConfig.cc2010-07-06 18:40:10 UTC (rev 8815) @@ -59,15 +59,15 @@ std::string delim(:); char *ogre_resource_path = getenv(OGRE_RESOURCE_PATH); - if(this-ogrePaths.empty() ogre_resource_path) + if(ogre_resource_path) this-AddOgrePaths(std::string(ogre_resource_path)); char *gazebo_resource_path = getenv(GAZEBO_RESOURCE_PATH); - if(this-gazeboPaths.empty() gazebo_resource_path) + if(gazebo_resource_path) this-AddGazeboPaths(std::string(gazebo_resource_path)); char *gazebo_plugin_path = getenv(GAZEBO_PLUGIN_PATH); - if(this-pluginPaths.empty() gazebo_plugin_path) + if(gazebo_plugin_path) this-AddPluginPaths(std::string(gazebo_plugin_path)); if (cfgFile.is_open()) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8810] code/gazebo/trunk/server/rendering
Revision: 8810
http://playerstage.svn.sourceforge.net/playerstage/?rev=8810view=rev
Author: natepak
Date: 2010-06-30 14:54:08 + (Wed, 30 Jun 2010)
Log Message:
---
Added check of graphic card capabilities to enable/disable RT shaders
Modified Paths:
--
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.hh
code/gazebo/trunk/server/rendering/RTShaderSystem.cc
code/gazebo/trunk/server/rendering/RTShaderSystem.hh
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-06-30 02:24:20 UTC
(rev 8809)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-06-30 14:54:08 UTC
(rev 8810)
@@ -133,6 +133,8 @@
// Initialize the root node, and don't create a window
this-root-initialise(false);
+
+
}
@@ -253,25 +255,23 @@
exit(-1);
}
}
-
- // Create our frame listener and register it
- /*this-frameListener = new OgreFrameListener();
- this-root-addFrameListener(this-frameListener);
- */
-
this-raySceneQuery = this-sceneMgr-createRayQuery( Ogre::Ray() );
this-raySceneQuery-setSortByDistance(true);
this-raySceneQuery-setQueryMask(Ogre::SceneManager::ENTITY_TYPE_MASK);
- RTShaderSystem::Instance()-Init();
+ if (this-HasGLSL())
+RTShaderSystem::Instance()-Init();
}
+
+
/// Finalize
void OgreAdaptor::Fini()
{
- RTShaderSystem::Instance()-Fini();
+ if (this-HasGLSL())
+RTShaderSystem::Instance()-Fini();
}
@@ -452,6 +452,7 @@
*/
this-root-setRenderSystem(renderSys);
+
}
@@ -637,5 +638,26 @@
}
}
+
+// Returns true if the graphics card support GLSL
+bool OgreAdaptor::HasGLSL()
+{
+ const Ogre::RenderSystemCapabilities *capabilities;
+ Ogre::RenderSystemCapabilities::ShaderProfiles profiles;
+ Ogre::RenderSystemCapabilities::ShaderProfiles::const_iterator iter;
+ capabilities = this-root-getRenderSystem()-getCapabilities();
+ profiles = capabilities-getSupportedShaderProfiles();
+ iter = std::find(profiles.begin(), profiles.end(), glsl2);
+
+ // Print all the shader profiles
+ /*std::cout Shader profiles:\n;
+ for (iter = profiles.begin(); iter != profiles.end(); iter++)
+ {
+std::cout *iter \n;
+ }
+ */
+
+ return iter != profiles.end();
+}
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.hh
===
--- code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2010-06-30 02:24:20 UTC
(rev 8809)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2010-06-30 14:54:08 UTC
(rev 8810)
@@ -119,6 +119,9 @@
public: void PrintSceneGraph();
+/// \brief Returns true if the graphics card support GLSL
+public: bool HasGLSL();
+
/// \brief Print scene graph
private: void PrintSceneGraphHelper(std::string prefix,
Ogre::Node *node);
Modified: code/gazebo/trunk/server/rendering/RTShaderSystem.cc
===
--- code/gazebo/trunk/server/rendering/RTShaderSystem.cc2010-06-30
02:24:20 UTC (rev 8809)
+++ code/gazebo/trunk/server/rendering/RTShaderSystem.cc2010-06-30
14:54:08 UTC (rev 8810)
@@ -43,6 +43,7 @@
/// Constructor
RTShaderSystem::RTShaderSystem()
{
+ this-initialized = false;
}
@@ -158,6 +159,8 @@
// Invalidate the scheme in order to re-generate all shaders based
technique related to this scheme.
this-shaderGenerator-invalidateScheme(Ogre::RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
+
+this-initialized = true;
}
else
gzerr(0) RT Shader system failed to initialize\n;
@@ -166,7 +169,9 @@
void RTShaderSystem::Fini()
{
-#if INCLUDE_RTSHADER OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR =
MINOR_VERSION
+ if (!this-initialized)
+return;
+
// Restore default scheme.
Ogre::MaterialManager::getSingleton().setActiveScheme(Ogre::MaterialManager::DEFAULT_SCHEME_NAME);
@@ -184,46 +189,49 @@
Ogre::RTShader::ShaderGenerator::finalize();
this-shaderGenerator = NULL;
}
-#endif
}
// Set an Ogre::Entity to use RT shaders
void RTShaderSystem::AttachEntity(OgreVisual *vis)
{
-#if INCLUDE_RTSHADER OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR =
MINOR_VERSION
+ if (!this-initialized)
+return;
+
this-GenerateShaders(vis
[Playerstage-commit] SF.net SVN: playerstage:[8808] code/gazebo/trunk/player
Revision: 8808
http://playerstage.svn.sourceforge.net/playerstage/?rev=8808view=rev
Author: natepak
Date: 2010-06-29 14:52:18 + (Tue, 29 Jun 2010)
Log Message:
---
Fixed namespace issues
Modified Paths:
--
code/gazebo/trunk/player/ActarrayInterface.cc
code/gazebo/trunk/player/ActarrayInterface.hh
code/gazebo/trunk/player/BumperInterface.cc
code/gazebo/trunk/player/BumperInterface.hh
code/gazebo/trunk/player/CMakeLists.txt
code/gazebo/trunk/player/CameraInterface.cc
code/gazebo/trunk/player/CameraInterface.hh
code/gazebo/trunk/player/FiducialInterface.cc
code/gazebo/trunk/player/FiducialInterface.hh
code/gazebo/trunk/player/GazeboClient.cc
code/gazebo/trunk/player/GazeboClient.hh
code/gazebo/trunk/player/GazeboDriver.cc
code/gazebo/trunk/player/GazeboDriver.hh
code/gazebo/trunk/player/GazeboInterface.cc
code/gazebo/trunk/player/GazeboInterface.hh
code/gazebo/trunk/player/GazeboTime.cc
code/gazebo/trunk/player/GazeboTime.hh
code/gazebo/trunk/player/Graphics3dInterface.cc
code/gazebo/trunk/player/Graphics3dInterface.hh
code/gazebo/trunk/player/GripperInterface.cc
code/gazebo/trunk/player/GripperInterface.hh
code/gazebo/trunk/player/IRInterface.cc
code/gazebo/trunk/player/IRInterface.hh
code/gazebo/trunk/player/LaserInterface.cc
code/gazebo/trunk/player/LaserInterface.hh
code/gazebo/trunk/player/OpaqueInterface.cc
code/gazebo/trunk/player/OpaqueInterface.hh
code/gazebo/trunk/player/PTZInterface.cc
code/gazebo/trunk/player/PTZInterface.hh
code/gazebo/trunk/player/Position2dInterface.cc
code/gazebo/trunk/player/Position2dInterface.hh
code/gazebo/trunk/player/Position3dInterface.cc
code/gazebo/trunk/player/Position3dInterface.hh
code/gazebo/trunk/player/SimulationInterface.cc
code/gazebo/trunk/player/SimulationInterface.hh
Modified: code/gazebo/trunk/player/ActarrayInterface.cc
===
--- code/gazebo/trunk/player/ActarrayInterface.cc 2010-06-28 21:02:18 UTC
(rev 8807)
+++ code/gazebo/trunk/player/ActarrayInterface.cc 2010-06-29 14:52:18 UTC
(rev 8808)
@@ -33,7 +33,7 @@
#include GazeboDriver.hh
#include ActarrayInterface.hh
-using namespace gazebo;
+using namespace libgazebo;
boost::recursive_mutex *ActarrayInterface::mutex = NULL;
Modified: code/gazebo/trunk/player/ActarrayInterface.hh
===
--- code/gazebo/trunk/player/ActarrayInterface.hh 2010-06-28 21:02:18 UTC
(rev 8807)
+++ code/gazebo/trunk/player/ActarrayInterface.hh 2010-06-29 14:52:18 UTC
(rev 8808)
@@ -33,7 +33,7 @@
class recursive_mutex;
}
-namespace gazebo
+namespace libgazebo
{
/// \addtogroup player_iface
/// \{
Modified: code/gazebo/trunk/player/BumperInterface.cc
===
--- code/gazebo/trunk/player/BumperInterface.cc 2010-06-28 21:02:18 UTC (rev
8807)
+++ code/gazebo/trunk/player/BumperInterface.cc 2010-06-29 14:52:18 UTC (rev
8808)
@@ -42,7 +42,7 @@
#include GazeboDriver.hh
#include BumperInterface.hh
-using namespace gazebo;
+using namespace libgazebo;
boost::recursive_mutex *BumperInterface::mutex = NULL;
///
Modified: code/gazebo/trunk/player/BumperInterface.hh
===
--- code/gazebo/trunk/player/BumperInterface.hh 2010-06-28 21:02:18 UTC (rev
8807)
+++ code/gazebo/trunk/player/BumperInterface.hh 2010-06-29 14:52:18 UTC (rev
8808)
@@ -34,7 +34,7 @@
class recursive_mutex;
}
-namespace gazebo
+namespace libgazebo
{
/// \addtogroup player_iface
/// \{
Modified: code/gazebo/trunk/player/CMakeLists.txt
===
--- code/gazebo/trunk/player/CMakeLists.txt 2010-06-28 21:02:18 UTC (rev
8807)
+++ code/gazebo/trunk/player/CMakeLists.txt 2010-06-29 14:52:18 UTC (rev
8808)
@@ -25,7 +25,7 @@
link_directories( ${PLAYER_LINK_DIRS} ${boost_library_dirs} gazeboshm)
-add_library(gazeboplugin SHARED ${gazeboplugin_sources})
-target_link_libraries(gazeboplugin ${PLAYER_LINK_LIBS} gazeboshm )
+add_library(gazeboplayerplugin SHARED ${gazeboplugin_sources})
+target_link_libraries(gazeboplayerplugin ${PLAYER_LINK_LIBS} gazeboshm )
-install(TARGETS gazeboplugin DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+install(TARGETS gazeboplayerplugin DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
Modified: code/gazebo/trunk/player/CameraInterface.cc
===
--- code/gazebo/trunk/player/CameraInterface.cc 2010-06-28 21:02:18 UTC (rev
8807)
+++ code/gazebo/trunk/player/CameraInterface.cc 2010-06-29 14:52:18 UTC (rev
8808)
@@ -32,7 +32,7 @@
#include GazeboDriver.hh
#include
[Playerstage-commit] SF.net SVN: playerstage:[8803] code/gazebo/trunk/plugins
Revision: 8803
http://playerstage.svn.sourceforge.net/playerstage/?rev=8803view=rev
Author: natepak
Date: 2010-06-28 16:19:35 + (Mon, 28 Jun 2010)
Log Message:
---
Added an elevator plugin
Modified Paths:
--
code/gazebo/trunk/plugins/CMakeLists.txt
Added Paths:
---
code/gazebo/trunk/plugins/elevator.cc
Modified: code/gazebo/trunk/plugins/CMakeLists.txt
===
--- code/gazebo/trunk/plugins/CMakeLists.txt2010-06-28 04:50:31 UTC (rev
8802)
+++ code/gazebo/trunk/plugins/CMakeLists.txt2010-06-28 16:19:35 UTC (rev
8803)
@@ -21,6 +21,7 @@
ball_drop
box_push
box_stack
+ elevator
)
Added: code/gazebo/trunk/plugins/elevator.cc
===
--- code/gazebo/trunk/plugins/elevator.cc (rev 0)
+++ code/gazebo/trunk/plugins/elevator.cc 2010-06-28 16:19:35 UTC (rev
8803)
@@ -0,0 +1,73 @@
+#include gazebo/gazeboserver.hh
+#include boost/bind.hpp
+
+namespace gazebo
+{
+ class Elevator : public Plugin
+ {
+/// Constructor
+public: Elevator() : Plugin()
+{
+ this-open = 0;
+ this-raise = 0;
+}
+
+/// Mandatory load function, neded by gazebo
+public: void Load()
+{
+ // Get the right and left doors, and the lift
+ this-rightDoor =
(Body*)World::Instance()-GetEntityByName(doors::right);
+ this-leftDoor =
(Body*)World::Instance()-GetEntityByName(doors::left);
+ this-lift = (Body*)World::Instance()-GetEntityByName(lift::body);
+
+ // Get the first contact sensor
+ this-contact =
(Geom*)World::Instance()-GetEntityByName(contact::body::COM_Entity::geom);
+ this-contact-SetContactsEnabled(true);
+ this-contact-ConnectContactCallback(boost::bind(Elevator::ContactCB,
this));
+
+
+ // Get the second contact sensor
+ this-contact2 =
(Geom*)World::Instance()-GetEntityByName(lift::body::COM_Entity::contact);
+ this-contact2-SetContactsEnabled(true);
+
this-contact2-ConnectContactCallback(boost::bind(Elevator::Contact2CB,
this));
+
+ // Get an update callback
+ World::Instance()-ConnectWorldUpdateStartSignal(
+boost::bind(Elevator::UpdateCB, this));
+}
+
+/// Gazebo callback that contact occured on the plate in front of the door
+private: void ContactCB()
+{
+ this-open = 1;
+}
+
+/// Gazebo callback that contact occured on the plate in the elevator
+private: void Contact2CB()
+{
+ this-raise = 1;
+}
+
+/// Gazebo update callback
+public: void UpdateCB()
+{
+ if (this-open == 1)
+ {
+this-rightDoor-SetLinearVel(Vector3(0, -0.5, 0));
+this-leftDoor-SetLinearVel(Vector3(0, 0.5, 0));
+ }
+
+ if (this-raise == 1)
+ {
+this-lift-SetLinearVel(Vector3(0,0,0.5));
+ }
+}
+
+private: int open, raise;
+private: Body *rightDoor, *leftDoor, *lift;
+private: Geom *contact, *contact2;
+ };
+
+ /// Register this plugin with gazebo. This is mandatory
+ GZ_REGISTER_PLUGIN(Elevator, Elevator)
+}
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[Playerstage-commit] SF.net SVN: playerstage:[8804] code/gazebo/trunk/worlds/elevator.world
Revision: 8804 http://playerstage.svn.sourceforge.net/playerstage/?rev=8804view=rev Author: natepak Date: 2010-06-28 16:19:58 + (Mon, 28 Jun 2010) Log Message: --- Added an elevator world Added Paths: --- code/gazebo/trunk/worlds/elevator.world Added: code/gazebo/trunk/worlds/elevator.world === --- code/gazebo/trunk/worlds/elevator.world (rev 0) +++ code/gazebo/trunk/worlds/elevator.world 2010-06-28 16:19:58 UTC (rev 8804) @@ -0,0 +1,454 @@ +?xml version=1.0? +gazebo:world +xmlns:xi=http://www.w3.org/2001/XInclude; +xmlns:gazebo=http://playerstage.sourceforge.net/gazebo/xmlschema/#gz; +xmlns:model=http://playerstage.sourceforge.net/gazebo/xmlschema/#model; +xmlns:sensor=http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor; +xmlns:window=http://playerstage.sourceforge.net/gazebo/xmlschema/#window; +xmlns:param=http://playerstage.sourceforge.net/gazebo/xmlschema/#param; +xmlns:body=http://playerstage.sourceforge.net/gazebo/xmlschema/#body; +xmlns:geom=http://playerstage.sourceforge.net/gazebo/xmlschema/#geom; +xmlns:joint=http://playerstage.sourceforge.net/gazebo/xmlschema/#joint; + xmlns:interface=http://playerstage.sourceforge.net/gazebo/xmlschema/#interface; +xmlns:ui=http://playerstage.sourceforge.net/gazebo/xmlschema/#ui; + xmlns:rendering=http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering; + xmlns:controller=http://playerstage.sourceforge.net/gazebo/xmlschema/#controller; + xmlns:physics=http://playerstage.sourceforge.net/gazebo/xmlschema/#physics; + + verbosity0/verbosity + logData0/logData + + physics:ode +stepTime0.001/stepTime +gravity0 0 -9.8/gravity +updateRate0/updateRate +cfm1e-10/cfm +erp0.2/erp +stepTypequick/stepType +stepIters10/stepIters +stepW1.3/stepW +contactMaxCorrectingVel100/contactMaxCorrectingVel +contactSurfaceLayer0.001/contactSurfaceLayer + /physics:ode + + rendering:ogre +ambient.1 .1 .1 1/ambient +fog + typenone/type + color1 1 1 1/color + linearStart0/linearStart + linearEnd0/linearEnd + density0/density +/fog +shadows1/shadows + /rendering:ogre + + rendering:gui +size800 600/size +pos1 52/pos +frames +camera width=550 height=485 x=250 y=50 + xyz-2 0 2/xyz + rpy0 30 0/rpy +/camera +/frames + /rendering:gui + + model:physical name=plane1_model +xyz0 0 0/xyz +rpy0 -0 0/rpy +enableGravity1/enableGravity +enableFriction1/enableFriction +collideall/collide +static1/static + +body name=plane1_body + xyz0 0 0/xyz + rpy0 -0 0/rpy + + geom:plane name=plane1_geom +xyz0 0 0/xyz +rpy0 -0 0/rpy +normal0 0 1/normal +size100 100/size +segments10 10/segments +uvTile100 100/uvTile +materialGazebo/GrayGrid/material +castShadows0/castShadows +mass0.001/mass +laserFiducialId-1/laserFiducialId +laserRetro-1/laserRetro + /geom:plane +/body + /model:physical + + !-- + model:physical name=user_box0 +xyz1.0 1.5 1.5/xyz +rpy0 0 0/rpy +statictrue/static + +body name=body + geom:box name=geom +size0.1 1.5 3/size +mass0.1/mass +visual + meshunit_box_U1V1/mesh + materialGazebo/Grey/material + castShadows1/castShadows + scale0.1 1.5 3/scale +/visual + /geom:box +/body + /model:physical + + model:physical name=user_box1 +xyz1.0 -1.5 1.5/xyz +rpy0 0 0/rpy +statictrue/static + +body name=body + geom:box name=geom +size0.1 1.5 3/size +mass0.1/mass +visual + meshunit_box_U1V1/mesh + materialGazebo/Grey/material + castShadows1/castShadows + scale0.1 1.5 3/scale +/visual + /geom:box +/body + /model:physical + -- + + model:physical name=frame +xyz1.1 0 1.5/xyz +statictrue/static + +body name=body + geom:box name=right-front +xyz-0.1 -1.5 0.1/xyz +size0.1 1.5 3/size +visual + meshunit_box_U1V1/mesh + materialGazebo/Grey/material + castShadows1/castShadows + scale0.1 1.5 3/scale +/visual + /geom:box + + geom:box name=right-back +xyz0.1 -1.5 0.1/xyz +size0.1 1.5 3/size +visual + meshunit_box_U1V1/mesh + materialGazebo/Grey/material + castShadows1/castShadows + scale0.1 1.5 3/scale +/visual + /geom:box + + geom:box name=left-front +xyz-0.1 1.5 0.1/xyz +size0.1 1.5 3/size +visual + meshunit_box_U1V1/mesh + materialGazebo/Grey/material + castShadows1/castShadows + scale0.1 1.5 3/scale +/visual
[Playerstage-commit] SF.net SVN: playerstage:[8805] code/gazebo/trunk/server
Revision: 8805
http://playerstage.svn.sourceforge.net/playerstage/?rev=8805view=rev
Author: natepak
Date: 2010-06-28 16:20:53 + (Mon, 28 Jun 2010)
Log Message:
---
Added ability to make bodies kinematic only
Modified Paths:
--
code/gazebo/trunk/server/Param.hh
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
code/gazebo/trunk/server/physics/bullet/BulletBody.hh
code/gazebo/trunk/server/physics/ode/ODEBody.cc
code/gazebo/trunk/server/physics/ode/ODEBody.hh
Modified: code/gazebo/trunk/server/Param.hh
===
--- code/gazebo/trunk/server/Param.hh 2010-06-28 16:19:58 UTC (rev 8804)
+++ code/gazebo/trunk/server/Param.hh 2010-06-28 16:20:53 UTC (rev 8805)
@@ -66,11 +66,18 @@
/// \brief Set the parameter value from a string
public: virtual void SetFromString(const std::string , bool
callback=false) {}
+/// \brief Set the help string
+public: void SetHelp(const std::string h) {this-help = h;}
+
+/// \brief Get the help string
+public: std::string GetHelp() const {return this-help;}
+
/// List of created parameters
private: static std::vectorParam* *params;
protected: std::string key;
protected: std::string typeName;
+protected: std::string help;
};
Modified: code/gazebo/trunk/server/physics/Body.cc
===
--- code/gazebo/trunk/server/physics/Body.cc2010-06-28 16:19:58 UTC (rev
8804)
+++ code/gazebo/trunk/server/physics/Body.cc2010-06-28 16:20:53 UTC (rev
8805)
@@ -90,6 +90,10 @@
this-ixzP = new ParamTdouble(ixz,0.0,0);
this-iyzP = new ParamTdouble(iyz,0.0,0);
+ this-kinematicP = new ParamTbool(kinematic,true,0);
+ this-kinematicP-SetHelp(true = kinematic state only, false = dynamic
body);
+ this-kinematicP-Callback( Body::SetKinematic, this );
+
Param::End();
}
@@ -139,6 +143,7 @@
delete this-ixyP;
delete this-ixzP;
delete this-iyzP;
+ delete this-kinematicP;
}
@@ -162,6 +167,7 @@
this-ixyP-Load(node);
this-ixzP-Load(node);
this-iyzP-Load(node);
+ this-kinematicP-Load(node);
this-customMass.SetCoG(**this-cxP, **this-cyP,** this-czP);
this-customMass.SetInertiaMatrix( **this-ixxP, **this-iyyP, **this-izzP,
@@ -210,6 +216,8 @@
childNode = childNode-GetNextByNSPrefix(sensor);
}
+ this-SetKinematic(**this-kinematicP);
+
//this-GetModel()-ConnectUpdateSignal( boost::bind(Body::Update, this) );
}
@@ -722,3 +730,4 @@
this-customMass = mass;
}
+
Modified: code/gazebo/trunk/server/physics/Body.hh
===
--- code/gazebo/trunk/server/physics/Body.hh2010-06-28 16:19:58 UTC (rev
8804)
+++ code/gazebo/trunk/server/physics/Body.hh2010-06-28 16:20:53 UTC (rev
8805)
@@ -222,6 +222,12 @@
public: Entity *GetCoMEntity() { return this-comEntity; }
+/// \brief Set whether this body is in the kinematic state
+public: virtual void SetKinematic(const bool ) {}
+
+/// \brief Get whether this body is in the kinematic state
+public: virtual bool GetKinematic() const {return false;}
+
/// \brief Connect a boost::slot the the add entity signal
public: templatetypename T
boost::signals::connection ConnectEnabledSignal( T subscriber )
@@ -280,6 +286,7 @@
protected: ParamTdouble *ixyP;
protected: ParamTdouble *ixzP;
protected: ParamTdouble *iyzP;
+protected: ParamTbool *kinematicP;
protected: Mass customMass;
private: boost::signalvoid (bool) enabledSignal;
Modified: code/gazebo/trunk/server/physics/bullet/BulletBody.hh
===
--- code/gazebo/trunk/server/physics/bullet/BulletBody.hh 2010-06-28
16:19:58 UTC (rev 8804)
+++ code/gazebo/trunk/server/physics/bullet/BulletBody.hh 2010-06-28
16:20:53 UTC (rev 8805)
@@ -109,7 +109,6 @@
/// \brief Get the gravity mode
public: virtual bool GetGravityMode();
-
/// \brief Set whether this body will collide with others in the model
public: void SetSelfCollide(bool collide);
Modified: code/gazebo/trunk/server/physics/ode/ODEBody.cc
===
--- code/gazebo/trunk/server/physics/ode/ODEBody.cc 2010-06-28 16:19:58 UTC
(rev 8804)
+++ code/gazebo/trunk/server/physics/ode/ODEBody.cc 2010-06-28 16:20:53 UTC
(rev 8805)
@@ -486,3 +486,27 @@
dBodySetAngularDamping(this-GetODEId(), damping);
}
+
+// Set whether this body is in the kinematic state
+void ODEBody::SetKinematic(const bool state)
+{
+ if (this-bodyId)
+ {
+if (state)
+ dBodySetKinematic(this-bodyId
[Playerstage-commit] SF.net SVN: playerstage:[8806] code/gazebo/branches/wx/
Revision: 8806 http://playerstage.svn.sourceforge.net/playerstage/?rev=8806view=rev Author: natepak Date: 2010-06-28 20:31:24 + (Mon, 28 Jun 2010) Log Message: --- Created WX branch Added Paths: --- code/gazebo/branches/wx/ This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8807] code/gazebo/branches/wx
Revision: 8807
http://playerstage.svn.sourceforge.net/playerstage/?rev=8807view=rev
Author: natepak
Date: 2010-06-28 21:02:18 + (Mon, 28 Jun 2010)
Log Message:
---
A few very minor changes
Modified Paths:
--
code/gazebo/branches/wx/TODO
code/gazebo/branches/wx/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/wx/server/Global.hh
code/gazebo/branches/wx/server/Simulator.cc
code/gazebo/branches/wx/server/XMLConfig.cc
code/gazebo/branches/wx/server/physics/Joint.cc
code/gazebo/branches/wx/server/physics/bullet/BulletHinge2Joint.cc
code/gazebo/branches/wx/server/physics/bullet/BulletHingeJoint.cc
Modified: code/gazebo/branches/wx/TODO
===
--- code/gazebo/branches/wx/TODO2010-06-28 20:31:24 UTC (rev 8806)
+++ code/gazebo/branches/wx/TODO2010-06-28 21:02:18 UTC (rev 8807)
@@ -3,25 +3,18 @@
///
GUI
-- Hand of god
- - Select models and get info
- - Move models
- -Implement in CameraSensor class.
-- Allow person to display and change XML parameters through the GUI.
-- Better fonts
-- Better camera movement. Translate is too slow over long distances
+-Set pose of object numerically
+-Model importer
+-Set joints
+-Set physics params, and other global params
+-Set Object parameters
+ - Apply materials, set friction, set visual collision models, numerically
set forces and torques
+- Orbit camera movement
Rendering
-- FSAA: See OgreCreator::CreateWindow
-- Shadows draw on multiple surfaces(seem to pass through walls).
-- Removing the sky results in a black screen
- Paging heightmaps.
- Positioning the current heightmap is a big hack
- BSP loader and worlds
-- Fog
-- Anti Aliasing
-- Better lights
- - GLSL per pixel lighting. Make this user selectable.
- Dynamic textures
Modified: code/gazebo/branches/wx/benchmarks/pioneer_circle_benchmark.cc
===
--- code/gazebo/branches/wx/benchmarks/pioneer_circle_benchmark.cc
2010-06-28 20:31:24 UTC (rev 8806)
+++ code/gazebo/branches/wx/benchmarks/pioneer_circle_benchmark.cc
2010-06-28 21:02:18 UTC (rev 8807)
@@ -278,9 +278,11 @@
for (iter = step_types.begin(); iter != step_types.end(); iter++)
{
std::string path =
std::string(/home/nate/work/simpar/data/pioneer_circle/) + *iter + /;
-system((std::string(mkdir -p )+path).c_str());
+if (system((std::string(mkdir -p )+path).c_str()) == -1)
+ std::cerr Error\n;
+
FILE *out = fopen(std::string(path+index.txt).c_str(), w);
fprintf(out,# index step_time iterations\n);
@@ -303,7 +305,8 @@
RunSim(step);
std::string mv_cmd = std::string(mv /tmp/pioneer.log ) + path +
pioneer_circle_benchmark_ + *iter + _ + boost::lexical_caststd::string(i)
+ .data;
-system(mv_cmd.c_str());
+if (system(mv_cmd.c_str()) == -1)
+ std::cerr Error\n;
}
}
Modified: code/gazebo/branches/wx/server/Global.hh
===
--- code/gazebo/branches/wx/server/Global.hh2010-06-28 20:31:24 UTC (rev
8806)
+++ code/gazebo/branches/wx/server/Global.hh2010-06-28 21:02:18 UTC (rev
8807)
@@ -28,16 +28,6 @@
#define GZGLOBAL_HH
/
-// Includes
-/
-
-#include math.h
-
-#include GazeboError.hh
-#include GazeboMessage.hh
-
-
-/
// Defines
/
#ifndef NULL
@@ -65,6 +55,17 @@
// Macros
/
+#if defined(__GNUC__)
+#define GAZEBO_DEPRECATED __attribute__((deprecated))
+#define GAZEBO_FORCEINLINE __attribute__((always_inline))
+#elif defined(MSVC)
+#define GAZEBO_DEPRECATED
+#define GAZEBO_FORCEINLINE __forceinline
+#else
+#define GAZEBO_DEPRECATED
+#define GAZEBO_FORCEINLINE
+#endif
+
// Convert radians to degrees
#define RTOD(r) ((r) * 180 / M_PI)
Modified: code/gazebo/branches/wx/server/Simulator.cc
===
--- code/gazebo/branches/wx/server/Simulator.cc 2010-06-28 20:31:24 UTC (rev
8806)
+++ code/gazebo/branches/wx/server/Simulator.cc 2010-06-28 21:02:18 UTC (rev
8807)
@@ -46,6 +46,7 @@
#include PhysicsEngine.hh
#include OgreAdaptor.hh
#include GazeboMessage.hh
+#include GazeboError.hh
#include Global.hh
#include Simulator.hh
Modified: code/gazebo/branches/wx/server/XMLConfig.cc
===
--- code/gazebo/branches/wx/server/XMLConfig.cc 2010-06-28 20:31:24 UTC (rev
8806)
+++ code/gazebo/branches/wx/server
[Playerstage-commit] SF.net SVN: playerstage:[8784] code/gazebo/trunk/worlds
Revision: 8784 http://playerstage.svn.sourceforge.net/playerstage/?rev=8784view=rev Author: natepak Date: 2010-06-23 14:16:25 + (Wed, 23 Jun 2010) Log Message: --- Updated a few world files Modified Paths: -- code/gazebo/trunk/worlds/models/sicklms200.model code/gazebo/trunk/worlds/pioneer2dx_ramp.world Modified: code/gazebo/trunk/worlds/models/sicklms200.model === --- code/gazebo/trunk/worlds/models/sicklms200.model2010-06-22 23:03:53 UTC (rev 8783) +++ code/gazebo/trunk/worlds/models/sicklms200.model2010-06-23 14:16:25 UTC (rev 8784) @@ -52,6 +52,7 @@ minRange0.1/minRange maxRange8/maxRange resRange.1/resRange + alwaysActivetrue/alwaysActive controller:sicklms200_laser name=laser_controller_1 interface:laser name=laser_iface_0/ Modified: code/gazebo/trunk/worlds/pioneer2dx_ramp.world === --- code/gazebo/trunk/worlds/pioneer2dx_ramp.world 2010-06-22 23:03:53 UTC (rev 8783) +++ code/gazebo/trunk/worlds/pioneer2dx_ramp.world 2010-06-23 14:16:25 UTC (rev 8784) @@ -21,12 +21,14 @@ physics:ode stepTime0.001/stepTime gravity0 0 -9.8/gravity -cfm10e-5/cfm -erp0.3/erp -!-- updateRate: 0 == throttle simTime to match realTime. - 0 == No throttling - 0 == Frequency at which to throttle the sim -- -updateRate0/updateRate +cfm0.01/cfm +erp0.2/erp + +stepTypeworld/stepType +stepIters50/stepIters +stepW1.3/stepW +contactMaxCorrectingVel100.0/contactMaxCorrectingVel +contactSurfaceLayer0.001/contactSurfaceLayer /physics:ode rendering:gui @@ -39,16 +41,11 @@ rendering:ogre ambient0.1 0.1 0.1 1.0/ambient -sky - materialGazebo/CloudySky/material -/sky - fog color1.0 1.0 1.0/color linearStart10/linearStart linearEnd100/linearEnd /fog - gridfalse/grid /rendering:ogre This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8785] code/gazebo/trunk/server/physics/BallJoint. hh
Revision: 8785
http://playerstage.svn.sourceforge.net/playerstage/?rev=8785view=rev
Author: natepak
Date: 2010-06-23 16:18:35 + (Wed, 23 Jun 2010)
Log Message:
---
Fixed a warning message
Modified Paths:
--
code/gazebo/trunk/server/physics/BallJoint.hh
Modified: code/gazebo/trunk/server/physics/BallJoint.hh
===
--- code/gazebo/trunk/server/physics/BallJoint.hh 2010-06-23 14:16:25 UTC
(rev 8784)
+++ code/gazebo/trunk/server/physics/BallJoint.hh 2010-06-23 16:18:35 UTC
(rev 8785)
@@ -100,10 +100,10 @@
public: virtual void SetLowStop(int index, Angle angle) {}
/// \brief Get the high stop of an axis(index).
-public: virtual Angle GetHighStop(int index) {}
+public: virtual Angle GetHighStop(int index) {return Angle();}
/// \brief Get the low stop of an axis(index).
-public: virtual Angle GetLowStop(int index) {}
+public: virtual Angle GetLowStop(int index) { return Angle();}
};
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[Playerstage-commit] SF.net SVN: playerstage:[8786] code/gazebo/trunk/server/rendering/ RTShaderSystem.cc
Revision: 8786
http://playerstage.svn.sourceforge.net/playerstage/?rev=8786view=rev
Author: natepak
Date: 2010-06-23 16:25:47 + (Wed, 23 Jun 2010)
Log Message:
---
Minor update
Modified Paths:
--
code/gazebo/trunk/server/rendering/RTShaderSystem.cc
Modified: code/gazebo/trunk/server/rendering/RTShaderSystem.cc
===
--- code/gazebo/trunk/server/rendering/RTShaderSystem.cc2010-06-23
16:18:35 UTC (rev 8785)
+++ code/gazebo/trunk/server/rendering/RTShaderSystem.cc2010-06-23
16:25:47 UTC (rev 8786)
@@ -60,9 +60,10 @@
{
this-shaderGenerator = Ogre::RTShader::ShaderGenerator::getSingletonPtr();
this-shaderGenerator-addSceneManager(OgreAdaptor::Instance()-sceneMgr);
-
+Ogre::StringVector groupVector;
+
// Setup the core libraries and shader cache path
-Ogre::StringVector groupVector =
Ogre::ResourceGroupManager::getSingleton().getResourceGroups();
+groupVector =
Ogre::ResourceGroupManager::getSingleton().getResourceGroups();
Ogre::StringVector::iterator itGroup = groupVector.begin();
Ogre::StringVector::iterator itGroupEnd = groupVector.end();
Ogre::String shaderCoreLibsPath;
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[Playerstage-commit] SF.net SVN: playerstage:[8787] code/gazebo/trunk/server
Revision: 8787
http://playerstage.svn.sourceforge.net/playerstage/?rev=8787view=rev
Author: natepak
Date: 2010-06-23 16:39:45 + (Wed, 23 Jun 2010)
Log Message:
---
Added in a gazebo config patch from ROS
Modified Paths:
--
code/gazebo/trunk/server/GazeboConfig.cc
code/gazebo/trunk/server/GazeboConfig.hh
Modified: code/gazebo/trunk/server/GazeboConfig.cc
===
--- code/gazebo/trunk/server/GazeboConfig.cc2010-06-23 16:25:47 UTC (rev
8786)
+++ code/gazebo/trunk/server/GazeboConfig.cc2010-06-23 16:39:45 UTC (rev
8787)
@@ -59,15 +59,15 @@
std::string delim(:);
char *ogre_resource_path = getenv(OGRE_RESOURCE_PATH);
- if(ogre_resource_path)
+ if(this-ogrePaths.empty() ogre_resource_path)
this-AddOgrePaths(std::string(ogre_resource_path));
char *gazebo_resource_path = getenv(GAZEBO_RESOURCE_PATH);
- if(gazebo_resource_path)
+ if(this-gazeboPaths.empty() gazebo_resource_path)
this-AddGazeboPaths(std::string(gazebo_resource_path));
char *gazebo_plugin_path = getenv(GAZEBO_PLUGIN_PATH);
- if(gazebo_plugin_path)
+ if(this-pluginPaths.empty() gazebo_plugin_path)
this-AddPluginPaths(std::string(gazebo_plugin_path));
if (cfgFile.is_open())
@@ -77,7 +77,7 @@
rc.Load(rcFilename);
// if gazebo path is set, skip reading from .gazeborc
-if(!gazebo_resource_path)
+if(this-ogrePaths.empty() !ogre_resource_path)
{
node = rc.GetRootNode()-GetChild(gazeboPath);
while (node)
@@ -90,7 +90,7 @@
}
// if ogre path is set, skip reading from .gazeborc
-if(!ogre_resource_path)
+if(this-ogrePaths.empty() !ogre_resource_path)
{
node = rc.GetRootNode()-GetChild(ogrePath);
while (node)
@@ -106,13 +106,13 @@
{
gzmsg(0) Unable to find the file ~/.gazeborc. Using default paths.
This may cause OGRE to fail.\n;
-if ( !gazebo_resource_path )
+if (this-gazeboPaths.empty() !gazebo_resource_path )
{
this-gazeboPaths.push_back(/usr/local/share/gazebo);
this-AddPluginPaths(/usr/local/share/gazebo/plugins);
}
-if ( !ogre_resource_path )
+if (this-ogrePaths.empty() !ogre_resource_path )
{
this-ogrePaths.push_back(/usr/local/lib/OGRE);
this-ogrePaths.push_back(/usr/lib/OGRE);
@@ -121,6 +121,19 @@
}
}
+void GazeboConfig::ClearGazeboPaths()
+{
+ this-gazeboPaths.clear();
+}
+void GazeboConfig::ClearOgrePaths()
+{
+ this-ogrePaths.clear();
+}
+void GazeboConfig::ClearPluginPaths()
+{
+ this-pluginPaths.clear();
+}
+
std::liststd::string GazeboConfig::GetGazeboPaths()
{
return this-gazeboPaths;
Modified: code/gazebo/trunk/server/GazeboConfig.hh
===
--- code/gazebo/trunk/server/GazeboConfig.hh2010-06-23 16:25:47 UTC (rev
8786)
+++ code/gazebo/trunk/server/GazeboConfig.hh2010-06-23 16:39:45 UTC (rev
8787)
@@ -64,7 +64,11 @@
/// \brief Add colon delimited paths to plugins
public: void AddPluginPaths(std::string path);
-
+
+public: void ClearGazeboPaths();
+public: void ClearOgrePaths();
+public: void ClearPluginPaths();
+
/// Paths gazebo install
private: std::liststd::string gazeboPaths;
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[Playerstage-commit] SF.net SVN: playerstage:[8771] code/gazebo/trunk
Revision: 8771
http://playerstage.svn.sourceforge.net/playerstage/?rev=8771view=rev
Author: natepak
Date: 2010-06-22 21:45:59 + (Tue, 22 Jun 2010)
Log Message:
---
Moved when the sensor manager is updated
Modified Paths:
--
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/worlds/empty.world
Modified: code/gazebo/trunk/server/World.cc
===
--- code/gazebo/trunk/server/World.cc 2010-06-22 21:42:18 UTC (rev 8770)
+++ code/gazebo/trunk/server/World.cc 2010-06-22 21:45:59 UTC (rev 8771)
@@ -355,9 +355,6 @@
}
- /// Update all the sensors
- SensorManager::Instance()-Update();
-
if (!Simulator::Instance()-IsPaused()
Simulator::Instance()-GetPhysicsEnabled())
{
@@ -373,6 +370,10 @@
}*/
}
+ /// Update all the sensors
+ SensorManager::Instance()-Update();
+
+
this-factory-Update();
this-worldUpdateEndSignal();
Modified: code/gazebo/trunk/worlds/empty.world
===
--- code/gazebo/trunk/worlds/empty.world2010-06-22 21:42:18 UTC (rev
8770)
+++ code/gazebo/trunk/worlds/empty.world2010-06-22 21:45:59 UTC (rev
8771)
@@ -41,11 +41,11 @@
rendering:ogre
ambient0 0 0 1/ambient
shadowstrue/shadows
- gridfalse/grid
+gridfalse/grid
/rendering:ogre
- !-- Ground Plane --
- model:physical name=plane1_model
+ !-- Ground Plane --
+ model:physical name=plane1_model
xyz0 0 0/xyz
rpy0 0 0/rpy
statictrue/static
@@ -77,4 +77,729 @@
/light
/model:renderable
+ model:physical name=continuous_pendulum
+xyz0 0 0/xyz
+rpy0 0 0/rpy
+body:box name=link1
+ massMatrixtrue/massMatrix
+ mass1/mass
+ ixx0/ixx
+ ixy0/ixy
+ ixz0/ixz
+ iyy0/iyy
+ iyz0/iyz
+ izz0/izz
+ cx0/cx
+ cy1/cy
+ cz0/cz
+ xyz0 0 35/xyz
+ rpy0 -0 0/rpy
+ geom:box name=link1_geom
+xyz0 0.5 0/xyz
+rpy0 -0 0/rpy
+size0.2 1 0.2/size
+visual
+ xyz0 0 0/xyz
+ rpy0 -0 0/rpy
+ scale0.2 1 0.2/scale
+ meshunit_box/mesh
+ materialGazebo/GrassFloor/material
+/visual
+ /geom:box
+ turnGravityOfffalse/turnGravityOff
+ selfCollidefalse/selfCollide
+/body:box
+joint:hinge name=link1_joint
+ body1link1/body1
+ body2world/body2
+ anchorlink1/anchor
+ axis1 0 0/axis
+ damping0/damping
+/joint:hinge
+body:box name=link2
+ massMatrixtrue/massMatrix
+ mass1/mass
+ ixx0/ixx
+ ixy0/ixy
+ ixz0/ixz
+ iyy0/iyy
+ iyz0/iyz
+ izz0/izz
+ cx0/cx
+ cy1/cy
+ cz0/cz
+ xyz0 1 35/xyz
+ rpy0 -0 0/rpy
+ geom:box name=link2_geom
+xyz0 0.5 0/xyz
+rpy0 -0 0/rpy
+size0.2 1 0.2/size
+visual
+ xyz0 0 0/xyz
+ rpy0 -0 0/rpy
+ scale0.2 1 0.2/scale
+ meshunit_box/mesh
+ materialGazebo/LightWood/material
+/visual
+ /geom:box
+ turnGravityOfffalse/turnGravityOff
+ selfCollidefalse/selfCollide
+/body:box
+joint:hinge name=link2_joint
+ body1link2/body1
+ body2link1/body2
+ anchorlink2/anchor
+ axis1 0 0/axis
+ damping0/damping
+/joint:hinge
+body:box name=link3
+ massMatrixtrue/massMatrix
+ mass1/mass
+ ixx0/ixx
+ ixy0/ixy
+ ixz0/ixz
+ iyy0/iyy
+ iyz0/iyz
+ izz0/izz
+ cx0/cx
+ cy1/cy
+ cz0/cz
+ xyz0 2 35/xyz
+ rpy0 -0 0/rpy
+ geom:box name=link3_geom
+xyz0 0.5 0/xyz
+rpy0 -0 0/rpy
+size0.2 1 0.2/size
+visual
+ xyz0 0 0/xyz
+ rpy0 -0 0/rpy
+ scale0.2 1 0.2/scale
+ meshunit_box/mesh
+ materialGazebo/LightWood/material
+/visual
+ /geom:box
+ turnGravityOfffalse/turnGravityOff
+ selfCollidefalse/selfCollide
+/body:box
+joint:hinge name=link3_joint
+ body1link3/body1
+ body2link2/body2
+ anchorlink3/anchor
+ axis1 0 0/axis
+ damping0/damping
+/joint:hinge
+body:box name=link4
+ massMatrixtrue/massMatrix
+ mass1/mass
+ ixx0/ixx
+ ixy0/ixy
+ ixz0/ixz
+ iyy0/iyy
+ iyz0/iyz
+ izz0/izz
+ cx0/cx
+ cy1/cy
+ cz0/cz
+ xyz0 3 35/xyz
+ rpy0 -0 0/rpy
+ geom:box name=link4_geom
+xyz0 0.5 0/xyz
+rpy0 -0 0/rpy
+size0.2 1 0.2/size
+visual
+ xyz0 0 0/xyz
+ rpy0 -0 0/rpy
+ scale0.2 1 0.2/scale
+ meshunit_box/mesh
+ materialGazebo/LightWood/material
+/visual
+ /geom:box
+ turnGravityOfffalse/turnGravityOff
+ selfCollidefalse/selfCollide
+/body:box
+joint:hinge name=link4_joint
+ body1link4/body1
+ body2link3/body2
+ anchorlink4/anchor
[Playerstage-commit] SF.net SVN: playerstage:[8772] code/gazebo/trunk/3rd_party/
Revision: 8772 http://playerstage.svn.sourceforge.net/playerstage/?rev=8772view=rev Author: natepak Date: 2010-06-22 22:35:04 + (Tue, 22 Jun 2010) Log Message: --- Removed internal assimp Removed Paths: - code/gazebo/trunk/3rd_party/ This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8773] code/gazebo/trunk/Media
Revision: 8773 http://playerstage.svn.sourceforge.net/playerstage/?rev=8773view=rev Author: natepak Date: 2010-06-22 22:37:04 + (Tue, 22 Jun 2010) Log Message: --- Added more models Modified Paths: -- code/gazebo/trunk/Media/materials/scripts/Gazebo.material code/gazebo/trunk/Media/models/CMakeLists.txt Added Paths: --- code/gazebo/trunk/Media/models/pr2_gripper/ code/gazebo/trunk/Media/models/pr2_gripper/CMakeLists.txt code/gazebo/trunk/Media/models/pr2_gripper/finger_H_Color_100430.tif code/gazebo/trunk/Media/models/pr2_gripper/finger_H_UV_100430.dae code/gazebo/trunk/Media/models/pr2_gripper/finger_tip_H_UV_100430.dae code/gazebo/trunk/Media/models/pr2_gripper/fingertip_H_Color_100430.tif code/gazebo/trunk/Media/models/pr2_gripper/float_H_Color_100430.tif code/gazebo/trunk/Media/models/pr2_gripper/float_H_UV_100430.dae code/gazebo/trunk/Media/models/pr2_gripper/gripper_palm.dae code/gazebo/trunk/Media/models/pr2_gripper/gripper_palm_color.tif code/gazebo/trunk/Media/models/pr2_gripper/gripper_palm_normals.tif code/gazebo/trunk/Media/models/pr2_gripper/l_finger.dae code/gazebo/trunk/Media/models/pr2_gripper/l_finger_color.tif code/gazebo/trunk/Media/models/pr2_gripper/l_finger_normals.tif code/gazebo/trunk/Media/models/pr2_gripper/l_finger_tip.dae code/gazebo/trunk/Media/models/pr2_gripper/l_finger_tip_color.tif code/gazebo/trunk/Media/models/pr2_gripper/l_finger_tip_normals.tif code/gazebo/trunk/Media/models/pr2_gripper/l_float.dae code/gazebo/trunk/Media/models/pr2_gripper/l_float_color.tif code/gazebo/trunk/Media/models/pr2_gripper/l_float_normals.tif code/gazebo/trunk/Media/models/pr2_gripper/palm_H_Color_100430.tif code/gazebo/trunk/Media/models/pr2_gripper/palm_H_UV_100430.dae Removed Paths: - code/gazebo/trunk/Media/models/pr2_gripper/CMakeLists.txt code/gazebo/trunk/Media/models/pr2_gripper/finger_H_Color_100430.tif code/gazebo/trunk/Media/models/pr2_gripper/finger_H_UV_100430.dae code/gazebo/trunk/Media/models/pr2_gripper/finger_tip_H_UV_100430.dae code/gazebo/trunk/Media/models/pr2_gripper/fingertip_H_Color_100430.tif code/gazebo/trunk/Media/models/pr2_gripper/float_H_Color_100430.tif code/gazebo/trunk/Media/models/pr2_gripper/float_H_UV_100430.dae code/gazebo/trunk/Media/models/pr2_gripper/gripper_palm.dae code/gazebo/trunk/Media/models/pr2_gripper/gripper_palm_color.tif code/gazebo/trunk/Media/models/pr2_gripper/gripper_palm_normals.tif code/gazebo/trunk/Media/models/pr2_gripper/l_finger.dae code/gazebo/trunk/Media/models/pr2_gripper/l_finger_color.tif code/gazebo/trunk/Media/models/pr2_gripper/l_finger_normals.tif code/gazebo/trunk/Media/models/pr2_gripper/l_finger_tip.dae code/gazebo/trunk/Media/models/pr2_gripper/l_finger_tip_color.tif code/gazebo/trunk/Media/models/pr2_gripper/l_finger_tip_normals.tif code/gazebo/trunk/Media/models/pr2_gripper/l_float.dae code/gazebo/trunk/Media/models/pr2_gripper/l_float_color.tif code/gazebo/trunk/Media/models/pr2_gripper/l_float_normals.tif code/gazebo/trunk/Media/models/pr2_gripper/palm_H_Color_100430.tif code/gazebo/trunk/Media/models/pr2_gripper/palm_H_UV_100430.dae Property Changed: code/gazebo/trunk/Media/models/pioneer2at/ code/gazebo/trunk/Media/models/pioneer2at/CMakeLists.txt code/gazebo/trunk/Media/models/pioneer2at/Cylinder.012.mesh.xml code/gazebo/trunk/Media/models/pioneer2at/OgreXMLConverter.log code/gazebo/trunk/Media/models/pioneer2at/Scene.material code/gazebo/trunk/Media/models/pioneer2at/chassis.mesh code/gazebo/trunk/Media/models/pioneer2at/chassis_top.mesh code/gazebo/trunk/Media/models/pioneer2at/hub.mesh code/gazebo/trunk/Media/models/pioneer2at/pioneer3at.blend code/gazebo/trunk/Media/models/pioneer2at/sonar.mesh code/gazebo/trunk/Media/models/pioneer2at/sonarbank.mesh code/gazebo/trunk/Media/models/pioneer2at/tire.mesh code/gazebo/trunk/Media/models/pioneer2at/wheel.mesh code/gazebo/trunk/Media/models/pioneer2dx/ code/gazebo/trunk/Media/models/pioneer2dx/CMakeLists.txt code/gazebo/trunk/Media/models/pioneer2dx/Scene.material code/gazebo/trunk/Media/models/pioneer2dx/chassis.mesh code/gazebo/trunk/Media/models/pioneer2dx/chassis_top.mesh code/gazebo/trunk/Media/models/pioneer2dx/hub.mesh code/gazebo/trunk/Media/models/pioneer2dx/pioneer3dx.blend code/gazebo/trunk/Media/models/pioneer2dx/sonar.mesh code/gazebo/trunk/Media/models/pioneer2dx/sonarbank.mesh code/gazebo/trunk/Media/models/pioneer2dx/tire.mesh code/gazebo/trunk/Media/models/pioneer2dx/wheel.mesh Modified: code/gazebo/trunk/Media/materials/scripts/Gazebo.material === --- code/gazebo/trunk/Media/materials/scripts/Gazebo.material 2010-06-22 22:35:04
[Playerstage-commit] SF.net SVN: playerstage:[8775] code/gazebo/trunk/examples/libgazebo
Revision: 8775
http://playerstage.svn.sourceforge.net/playerstage/?rev=8775view=rev
Author: natepak
Date: 2010-06-22 22:39:28 + (Tue, 22 Jun 2010)
Log Message:
---
Added libgazebo as a namespace
Modified Paths:
--
code/gazebo/trunk/examples/libgazebo/bandit/bandit.cc
code/gazebo/trunk/examples/libgazebo/bumper/bumper.cc
code/gazebo/trunk/examples/libgazebo/camera/camera.cc
code/gazebo/trunk/examples/libgazebo/epuck/main.cc
code/gazebo/trunk/examples/libgazebo/factory/factory.cc
code/gazebo/trunk/examples/libgazebo/graphics3d/graphics3d.cc
code/gazebo/trunk/examples/libgazebo/laser/laser.cc
code/gazebo/trunk/examples/libgazebo/openal/openal.cc
code/gazebo/trunk/examples/libgazebo/position/position.cc
code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc
code/gazebo/trunk/examples/libgazebo/stereo/stereo.cc
Modified: code/gazebo/trunk/examples/libgazebo/bandit/bandit.cc
===
--- code/gazebo/trunk/examples/libgazebo/bandit/bandit.cc 2010-06-22
22:37:46 UTC (rev 8774)
+++ code/gazebo/trunk/examples/libgazebo/bandit/bandit.cc 2010-06-22
22:39:28 UTC (rev 8775)
@@ -13,9 +13,9 @@
int main()
{
- gazebo::Client *client = new gazebo::Client();
- gazebo::SimulationIface *simIface = new gazebo::SimulationIface();
- gazebo::ActarrayIface *actarrayIface = new gazebo::ActarrayIface();
+ liblibgazebo::Client *client = new libgazebo::Client();
+ liblibgazebo::SimulationIface *simIface = new libgazebo::SimulationIface();
+ liblibgazebo::ActarrayIface *actarrayIface = new libgazebo::ActarrayIface();
int serverId = 0;
Modified: code/gazebo/trunk/examples/libgazebo/bumper/bumper.cc
===
--- code/gazebo/trunk/examples/libgazebo/bumper/bumper.cc 2010-06-22
22:37:46 UTC (rev 8774)
+++ code/gazebo/trunk/examples/libgazebo/bumper/bumper.cc 2010-06-22
22:39:28 UTC (rev 8775)
@@ -3,8 +3,8 @@
int main()
{
- gazebo::Client *client = new gazebo::Client();
- gazebo::BumperIface *bumperIface = new gazebo::BumperIface();
+ libgazebo::Client *client = new gazebo::Client();
+ libgazebo::BumperIface *bumperIface = new gazebo::BumperIface();
int serverId = 0;
@@ -13,7 +13,7 @@
{
client-ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
}
- catch (gazebo::GazeboError e)
+ catch (libgazebo::GazeboError e)
{
std::cout Gazebo error: Unable to connect\n e \n;
return -1;
Modified: code/gazebo/trunk/examples/libgazebo/camera/camera.cc
===
--- code/gazebo/trunk/examples/libgazebo/camera/camera.cc 2010-06-22
22:37:46 UTC (rev 8774)
+++ code/gazebo/trunk/examples/libgazebo/camera/camera.cc 2010-06-22
22:39:28 UTC (rev 8775)
@@ -3,7 +3,7 @@
// Save an image frame
-void SaveFrame(const char *filename, gazebo::CameraData *data)
+void SaveFrame(const char *filename, libgazebo::CameraData *data)
{
int i, width, height;
FILE *file;
@@ -28,9 +28,9 @@
int main()
{
- gazebo::Client *client = new gazebo::Client();
- gazebo::SimulationIface *simIface = new gazebo::SimulationIface();
- gazebo::CameraIface *camIface = new gazebo::CameraIface();
+ libgazebo::Client *client = new gazebo::Client();
+ libgazebo::SimulationIface *simIface = new gazebo::SimulationIface();
+ libgazebo::CameraIface *camIface = new gazebo::CameraIface();
int serverId = 0;
@@ -39,7 +39,7 @@
{
client-ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
}
- catch (gazebo::GazeboError e)
+ catch (libgazebo::GazeboError e)
{
std::cout Gazebo error: Unable to connect\n e \n;
return -1;
@@ -50,7 +50,7 @@
{
simIface-Open(client, default);
}
- catch (gazebo::GazeboError e)
+ catch (libgazebo::GazeboError e)
{
std::cout Gazebo error: Unable to connect to the sim interface\n e
\n;
return -1;
Modified: code/gazebo/trunk/examples/libgazebo/epuck/main.cc
===
--- code/gazebo/trunk/examples/libgazebo/epuck/main.cc 2010-06-22 22:37:46 UTC
(rev 8774)
+++ code/gazebo/trunk/examples/libgazebo/epuck/main.cc 2010-06-22 22:39:28 UTC
(rev 8775)
@@ -11,9 +11,9 @@
int main()
{
- gazebo::Client *client = new gazebo::Client();
- gazebo::SimulationIface *simIface = new gazebo::SimulationIface();
- gazebo::FactoryIface *factoryIface = new gazebo::FactoryIface();
+ libgazebo::Client *client = new gazebo::Client();
+ libgazebo::SimulationIface *simIface = new gazebo::SimulationIface();
+ libgazebo::FactoryIface *factoryIface = new gazebo::FactoryIface();
int serverId = 0;
@@ -23,7 +23,7 @@
{
client-ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
}
- catch (gazebo::GazeboError e)
+ catch
[Playerstage-commit] SF.net SVN: playerstage:[8777] code/gazebo/trunk/worlds
Revision: 8777 http://playerstage.svn.sourceforge.net/playerstage/?rev=8777view=rev Author: natepak Date: 2010-06-22 22:53:04 + (Tue, 22 Jun 2010) Log Message: --- Fixed the worlds Modified Paths: -- code/gazebo/trunk/worlds/3shortstacks.world code/gazebo/trunk/worlds/handler.world code/gazebo/trunk/worlds/simpleshapes.world code/gazebo/trunk/worlds/single_box.world Modified: code/gazebo/trunk/worlds/3shortstacks.world === --- code/gazebo/trunk/worlds/3shortstacks.world 2010-06-22 22:40:10 UTC (rev 8776) +++ code/gazebo/trunk/worlds/3shortstacks.world 2010-06-22 22:53:04 UTC (rev 8777) @@ -19,7 +19,7 @@ gravity0 0 -9.8/gravity cfm0.001/cfm erp0.1/erp -stepTyperobust/stepType +stepTypequick/stepType stepIters10/stepIters stepW1.3/stepW contactSurfaceLayer0.00/contactSurfaceLayer Modified: code/gazebo/trunk/worlds/handler.world === --- code/gazebo/trunk/worlds/handler.world 2010-06-22 22:40:10 UTC (rev 8776) +++ code/gazebo/trunk/worlds/handler.world 2010-06-22 22:53:04 UTC (rev 8777) @@ -19,7 +19,7 @@ gravity0 0 -9.8/gravity cfm10e-10/cfm erp0.2/erp -stepTyperobust/stepType +stepTypequick/stepType stepIters50/stepIters stepW1.3/stepW contactMaxCorrectingVel100.0/contactMaxCorrectingVel @@ -45,7 +45,7 @@ gridfalse/grid /rendering:ogre - handler plugin=libtest.so/ + plugin fileanem=libtest.so handle=test/ model:physical name=sphere1_model xyz0 0 0.2/xyz Modified: code/gazebo/trunk/worlds/simpleshapes.world === --- code/gazebo/trunk/worlds/simpleshapes.world 2010-06-22 22:40:10 UTC (rev 8776) +++ code/gazebo/trunk/worlds/simpleshapes.world 2010-06-22 22:53:04 UTC (rev 8777) @@ -19,7 +19,7 @@ gravity0 0 -9.8/gravity cfm10e-10/cfm erp0.2/erp -stepTyperobust/stepType +stepTypequick/stepType stepIters50/stepIters stepW1.3/stepW contactMaxCorrectingVel100.0/contactMaxCorrectingVel @@ -38,7 +38,7 @@ /rendering:gui rendering:ogre -ambient1 1 1 1/ambient +ambient.1 .1 .1 1/ambient sky materialGazebo/CloudySky/material /sky @@ -60,9 +60,9 @@ visual size0.4 0.4 0.4/size - meshlightsensor.3ds/mesh + meshunit_box/mesh shaderpixel/shader - !--materialGazebo/Rocky/material-- + materialGazebo/Rocky/material /visual /geom:sphere /body:sphere @@ -98,7 +98,7 @@ specularColor.1 .1 .1/specularColor range20/range - attenuation0.1 0.01 0.001/attenuation + attenuation0.1 0.01 0.01/attenuation /light /model:renderable Modified: code/gazebo/trunk/worlds/single_box.world === --- code/gazebo/trunk/worlds/single_box.world 2010-06-22 22:40:10 UTC (rev 8776) +++ code/gazebo/trunk/worlds/single_box.world 2010-06-22 22:53:04 UTC (rev 8777) @@ -20,7 +20,7 @@ cfm10e-10/cfm erp0.2/erp -stepTyperobust/stepType +stepTypequick/stepType stepIters100/stepIters stepW1.3/stepW contactMaxCorrectingVel100.0/contactMaxCorrectingVel This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8779] code/gazebo/trunk/cmake
Revision: 8779
http://playerstage.svn.sourceforge.net/playerstage/?rev=8779view=rev
Author: natepak
Date: 2010-06-22 22:59:54 + (Tue, 22 Jun 2010)
Log Message:
---
Updated the build system
Modified Paths:
--
code/gazebo/trunk/cmake/GazeboUtils.cmake
code/gazebo/trunk/cmake/SearchForStuff.cmake
Property Changed:
code/gazebo/trunk/cmake/libgazebo_pkgconfig.cmake
Modified: code/gazebo/trunk/cmake/GazeboUtils.cmake
===
--- code/gazebo/trunk/cmake/GazeboUtils.cmake 2010-06-22 22:57:21 UTC (rev
8778)
+++ code/gazebo/trunk/cmake/GazeboUtils.cmake 2010-06-22 22:59:54 UTC (rev
8779)
@@ -37,6 +37,9 @@
APPEND_TO_CACHED_LIST(gazeboserver_headers
${gazeboserver_headers_desc}
${CMAKE_CURRENT_SOURCE_DIR}/${src})
+APPEND_TO_CACHED_LIST(gazeboserver_headers_nopath
+ gazeboserver_headers_nopath
+ ${src})
ENDFOREACH (src ${ARGN})
ENDMACRO (APPEND_TO_SERVER_HEADERS)
@@ -86,6 +89,8 @@
${gazeboserver_sources_desc} FORCE)
SET (gazeboserver_headers CACHE INTERNAL
${gazeboserver_sources_desc} FORCE)
+ SET (gazeboserver_headers_nopath CACHE INTERNAL
+ gazeboserver_headers_nopath FORCE)
SET (gazeboserver_include_dirs CACHE INTERNAL
${gazeboserver_include_dirs_desc} FORCE)
SET (gazeboserver_link_dirs CACHE INTERNAL
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===
--- code/gazebo/trunk/cmake/SearchForStuff.cmake2010-06-22 22:57:21 UTC
(rev 8778)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake2010-06-22 22:59:54 UTC
(rev 8779)
@@ -1,7 +1,8 @@
include (${gazebo_cmake_dir}/GazeboUtils.cmake)
include (CheckCXXSourceCompiles)
-set (use_internal_assimp OFF CACHE BOOL Use internal assimp FORCE)
+# John - ode version with joint damping
+SET(ODE_JOINT_DAMPING_VERSION 0.11.1.1 CACHE INTERNAL ODE version with joint
damping FORCE)
set (INCLUDE_WEBGAZEBO ON CACHE BOOL Build webgazebo FORCE)
set (OGRE_LIBRARY_PATH /usr/local/lib CACHE INTERNAL Ogre library path)
@@ -47,6 +48,40 @@
#
+ # Find ODE
+ pkg_check_modules(ODE ode)
+ IF (NOT ODE_FOUND)
+BUILD_ERROR (ODE and development files not found. See the following
website: http://www.ode.org;)
+set (INCLUDE_ODE FALSE CACHE BOOL Include support for ODE)
+ else (NOT ODE_FOUND)
+set (INCLUDE_ODE TRUE CACHE BOOL Include support for ODE)
+
+APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
+ ${gazeboserver_include_dirs_desc}
+ ${ODE_INCLUDE_DIRS})
+APPEND_TO_CACHED_LIST(gazeboserver_link_dirs
+ ${gazeboserver_link_dirs_desc}
+ ${ODE_LIBRARY_DIRS})
+APPEND_TO_CACHED_LIST(gazeboserver_link_libs
+ ${gazeboserver_link_libs_desc}
+ ${ODE_LINK_LIBS})
+APPEND_TO_CACHED_LIST(gazeboserver_link_libs
+ ${gazeboserver_link_libs_desc}
+ ${ODE_LIBRARIES})
+APPEND_TO_CACHED_LIST(gazeboserver_ldflags
+ ${gazeboserver_ldflags_desc}
+ ${ODE_LDFLAGS})
+ endif (NOT ODE_FOUND)
+
+ pkg_check_modules(ODE_JOINT_DAMPING ode=${ODE_JOINT_DAMPING_VERSION})
+ if (NOT ODE_JOINT_DAMPING_FOUND)
+set (INCLUDE_ODE_JOINT_DAMPING FALSE CACHE BOOL No support for ODE
damping)
+ else (NOT ODE_JOINT_DAMPING_FOUND)
+set (INCLUDE_ODE_JOINT_DAMPING TRUE CACHE BOOL Include support for ODE
damping)
+ endif (NOT ODE_JOINT_DAMPING_FOUND)
+
+
+ #
# Find OGRE
pkg_check_modules(OGRE-RTShaderSystem
OGRE-RTShaderSystem=${MIN_OGRE_VERSION})
if (OGRE-RTShaderSystem_FOUND)
@@ -57,10 +92,12 @@
set(ogre_libraries ${OGRE-RTShaderSystem_LIBRARIES})
set(ogre_cflags ${OGRE-RTShaderSystem_CFLAGS})
-add_definitions(-DUSE_RTSHADER_SYSTEM)
+set (INCLUDE_RTSHADER ON CACHE BOOL Enable GPU shaders)
else (OGRE-RTShaderSystem_FOUND)
+set (INCLUDE_RTSHADER OFF CACHE BOOL Enable GPU shaders)
+
pkg_check_modules(OGRE OGRE=${MIN_OGRE_VERSION})
if (NOT OGRE_FOUND)
BUILD_ERROR(Ogre3d version =${MIN_OGRE_VERSION} and development files
not found. See the following website for installation instructions:
http://www.orge3d.org;)
@@ -467,18 +504,15 @@
find_library(assimp_library assimp ENV LD_LIBRARY_PATH)
- if (NOT assimp_library)
-message (STATUS Looking for libassimp - not found. Using builtin
version.)
-#BUILD_ERROR(libassimp not found. See the following website for
installation instructions: http://assimp.sourceforge.net;)
- else
[Playerstage-commit] SF.net SVN: playerstage:[8780] code/gazebo/trunk/tools
Revision: 8780
http://playerstage.svn.sourceforge.net/playerstage/?rev=8780view=rev
Author: natepak
Date: 2010-06-22 23:00:46 + (Tue, 22 Jun 2010)
Log Message:
---
Update the tools and added a gazeboplugin tool
Modified Paths:
--
code/gazebo/trunk/tools/CMakeLists.txt
code/gazebo/trunk/tools/Toolbase.cc
code/gazebo/trunk/tools/Toolbase.hh
code/gazebo/trunk/tools/gazebobody.cc
code/gazebo/trunk/tools/gazebomodel.cc
Added Paths:
---
code/gazebo/trunk/tools/gazeboplugin.cc
Modified: code/gazebo/trunk/tools/CMakeLists.txt
===
--- code/gazebo/trunk/tools/CMakeLists.txt 2010-06-22 22:59:54 UTC (rev
8779)
+++ code/gazebo/trunk/tools/CMakeLists.txt 2010-06-22 23:00:46 UTC (rev
8780)
@@ -14,19 +14,24 @@
)
-set (sources gazebomodel.cc gazebobody.cc Toolbase.cc)
+set (sources gazebomodel.cc gazebobody.cc gazeboplugin.cc Toolbase.cc)
set_source_files_properties(${sources} PROPERTIES COMPILE_FLAGS -ggdb -g2
-Wall)
add_executable(gazebomodel gazebomodel.cc Toolbase.cc)
add_executable(gazebobody gazebobody.cc Toolbase.cc)
+add_executable(gazeboplugin gazeboplugin.cc Toolbase.cc)
target_link_libraries(gazebomodel gazebo yaml ${boost_libraries})
target_link_libraries(gazebobody gazebo yaml ${boost_libraries})
+target_link_libraries(gazeboplugin gazebo yaml ${boost_libraries})
set_target_properties(gazebomodel PROPERTIES SKIP_BUILD_RPATH TRUE)
set_target_properties(gazebomodel PROPERTIES LINK_FLAGS ${LINK_FLAGS}
${gazebo_lflags})
set_target_properties(gazebobody PROPERTIES SKIP_BUILD_RPATH TRUE)
set_target_properties(gazebobody PROPERTIES LINK_FLAGS ${LINK_FLAGS}
${gazebo_lflags})
+set_target_properties(gazeboplugin PROPERTIES SKIP_BUILD_RPATH TRUE)
+set_target_properties(gazeboplugin PROPERTIES LINK_FLAGS ${LINK_FLAGS}
${gazebo_lflags})
-install (TARGETS gazebomodel gazebobody DESTINATION
${CMAKE_INSTALL_PREFIX}/bin)
+
+install (TARGETS gazebomodel gazebobody gazeboplugin DESTINATION
${CMAKE_INSTALL_PREFIX}/bin)
Modified: code/gazebo/trunk/tools/Toolbase.cc
===
--- code/gazebo/trunk/tools/Toolbase.cc 2010-06-22 22:59:54 UTC (rev 8779)
+++ code/gazebo/trunk/tools/Toolbase.cc 2010-06-22 23:00:46 UTC (rev 8780)
@@ -47,9 +47,9 @@
this-ParseYAML();
- this-client = new gazebo::Client();
- this-simIface = new gazebo::SimulationIface();
- this-factoryIface = new gazebo::FactoryIface();
+ this-client = new libgazebo::Client();
+ this-simIface = new libgazebo::SimulationIface();
+ this-factoryIface = new libgazebo::FactoryIface();
try
{
Modified: code/gazebo/trunk/tools/Toolbase.hh
===
--- code/gazebo/trunk/tools/Toolbase.hh 2010-06-22 22:59:54 UTC (rev 8779)
+++ code/gazebo/trunk/tools/Toolbase.hh 2010-06-22 23:00:46 UTC (rev 8780)
@@ -41,9 +41,9 @@
/// \brief Print all the commands to stdout
protected: void PrintCommands(std::string prefix);
- protected: gazebo::Client *client;
- protected: gazebo::SimulationIface *simIface;
- protected: gazebo::FactoryIface *factoryIface;
+ protected: libgazebo::Client *client;
+ protected: libgazebo::SimulationIface *simIface;
+ protected: libgazebo::FactoryIface *factoryIface;
protected: std::mapstd::string, std::string yamlValues;
protected: std::vectorstd::string params;
Modified: code/gazebo/trunk/tools/gazebobody.cc
===
--- code/gazebo/trunk/tools/gazebobody.cc 2010-06-22 22:59:54 UTC (rev
8779)
+++ code/gazebo/trunk/tools/gazebobody.cc 2010-06-22 23:00:46 UTC (rev
8780)
@@ -15,7 +15,7 @@
public: void PrintBody(std::string name, std::string prefix)
{
std::string type;
-gazebo::Pose pose;
+libgazebo::Pose pose;
this-simIface-GetEntityType(name, type);
if (type == body)
Modified: code/gazebo/trunk/tools/gazebomodel.cc
===
--- code/gazebo/trunk/tools/gazebomodel.cc 2010-06-22 22:59:54 UTC (rev
8779)
+++ code/gazebo/trunk/tools/gazebomodel.cc 2010-06-22 23:00:46 UTC (rev
8780)
@@ -1,5 +1,9 @@
#include iostream
+#include sys/types.h
+#include sys/stat.h
+#include unistd.h
#include stdio.h
+#include stdlib.h
#include boost/regex.hpp
#include boost/algorithm/string.hpp
#include boost/lexical_cast.hpp
@@ -14,7 +18,7 @@
public: void PrintModel(std::string name, std::string prefix)
{
std::string type;
-gazebo::Pose pose;
+libgazebo::Pose pose;
std::cout prefix name \n;
@@ -70,8 +74,8 @@
{
std::string name = params[i];
std::string type;
-gazebo::Pose pose;
-gazebo::Vec3 linearVel, linearAccel, angularVel, angularAccel;
+libgazebo::Pose pose;
+libgazebo::Vec3 linearVel
[Playerstage-commit] SF.net SVN: playerstage:[8781] code/gazebo/trunk/libgazebo
Revision: 8781
http://playerstage.svn.sourceforge.net/playerstage/?rev=8781view=rev
Author: natepak
Date: 2010-06-22 23:01:14 + (Tue, 22 Jun 2010)
Log Message:
---
Added hooks for the new plugins
Modified Paths:
--
code/gazebo/trunk/libgazebo/Client.cc
code/gazebo/trunk/libgazebo/FactoryIface.cc
code/gazebo/trunk/libgazebo/Graphics3dIface.cc
code/gazebo/trunk/libgazebo/Iface.cc
code/gazebo/trunk/libgazebo/IfaceFactory.cc
code/gazebo/trunk/libgazebo/IfaceFactory.hh
code/gazebo/trunk/libgazebo/Server.cc
code/gazebo/trunk/libgazebo/SimIface.cc
code/gazebo/trunk/libgazebo/gz.h
Modified: code/gazebo/trunk/libgazebo/Client.cc
===
--- code/gazebo/trunk/libgazebo/Client.cc 2010-06-22 23:00:46 UTC (rev
8780)
+++ code/gazebo/trunk/libgazebo/Client.cc 2010-06-22 23:01:14 UTC (rev
8781)
@@ -43,7 +43,7 @@
#include gz.h
-using namespace gazebo;
+using namespace libgazebo;
// Create a client object
@@ -85,7 +85,7 @@
void Client::ConnectWait(int serverId, int clientId)
{
bool simulationIfaceIsValid = false;
- gazebo::SimulationIface *simIface = new gazebo::SimulationIface();
+ libgazebo::SimulationIface *simIface = new libgazebo::SimulationIface();
while (!simulationIfaceIsValid)
{
@@ -157,14 +157,14 @@
{
// a gazebo process is still alive.
// it might however, still being booted up, so we need to check by
connecting
-// Connect to gazebo::SimulationIface and check for changing
realTime,
+// Connect to libgazebo::SimulationIface and check for changing
realTime,
// if simulationIface-data-realTime is not changing, the server
might
// be stale leftovers from previous gazebo crash,
// disconnect and reconnect client
try
{
// Open the Simulation Interface
- gazebo::SimulationIface simulationIface;
+ libgazebo::SimulationIface simulationIface;
simulationIface.Open(this,default);
// grab a t0
simulationIface.Lock(1);
Modified: code/gazebo/trunk/libgazebo/FactoryIface.cc
===
--- code/gazebo/trunk/libgazebo/FactoryIface.cc 2010-06-22 23:00:46 UTC (rev
8780)
+++ code/gazebo/trunk/libgazebo/FactoryIface.cc 2010-06-22 23:01:14 UTC (rev
8781)
@@ -2,7 +2,7 @@
#include gz.h
-using namespace gazebo;
+using namespace libgazebo;
/// Delete a model by name
bool FactoryIface::DeleteEntity(const std::string model_name)
Modified: code/gazebo/trunk/libgazebo/Graphics3dIface.cc
===
--- code/gazebo/trunk/libgazebo/Graphics3dIface.cc 2010-06-22 23:00:46 UTC
(rev 8780)
+++ code/gazebo/trunk/libgazebo/Graphics3dIface.cc 2010-06-22 23:01:14 UTC
(rev 8781)
@@ -2,7 +2,7 @@
#include iostream
-using namespace gazebo;
+using namespace libgazebo;
/// Constructor
@@ -190,3 +190,21 @@
this-Unlock();
}
+
+
+/// Draw a ribbon trail following an entity
+void Graphics3dIface::DrawRibbonTrail(const std::string name)
+{
+ this-Lock(1);
+ Graphics3dDrawData *cmd = (this-data-commands[this-data-cmdCount++]);
+
+ cmd-drawMode = Graphics3dDrawData::RIBBONTRAIL;
+
+ // Set the name of the graphics drawable
+ memset( cmd-name, 0, GAZEBO_GRAPHICS3D_MAX_NAME);
+ strcpy( cmd-name, name.c_str());
+
+ cmd-intVar = 1;
+
+ this-Unlock();
+}
Modified: code/gazebo/trunk/libgazebo/Iface.cc
===
--- code/gazebo/trunk/libgazebo/Iface.cc2010-06-22 23:00:46 UTC (rev
8780)
+++ code/gazebo/trunk/libgazebo/Iface.cc2010-06-22 23:01:14 UTC (rev
8781)
@@ -43,7 +43,7 @@
#include gz.h
-using namespace gazebo;
+using namespace libgazebo;
GZ_REGISTER_IFACE(simulation, SimulationIface);
GZ_REGISTER_IFACE(position, PositionIface);
Modified: code/gazebo/trunk/libgazebo/IfaceFactory.cc
===
--- code/gazebo/trunk/libgazebo/IfaceFactory.cc 2010-06-22 23:00:46 UTC (rev
8780)
+++ code/gazebo/trunk/libgazebo/IfaceFactory.cc 2010-06-22 23:01:14 UTC (rev
8781)
@@ -31,7 +31,7 @@
#include gz.h
#include IfaceFactory.hh
-using namespace gazebo;
+using namespace libgazebo;
std::mapstd::string, IfaceFactoryFn IfaceFactory::ifaces;
Modified: code/gazebo/trunk/libgazebo/IfaceFactory.hh
===
--- code/gazebo/trunk/libgazebo/IfaceFactory.hh 2010-06-22 23:00:46 UTC (rev
8780)
+++ code
[Playerstage-commit] SF.net SVN: playerstage:[8783] code/gazebo/trunk
Revision: 8783
http://playerstage.svn.sourceforge.net/playerstage/?rev=8783view=rev
Author: natepak
Date: 2010-06-22 23:03:53 + (Tue, 22 Jun 2010)
Log Message:
---
updates
Modified Paths:
--
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/gazebo.h.in
Added Paths:
---
code/gazebo/trunk/gazebo_config.h.in
Modified: code/gazebo/trunk/CMakeLists.txt
===
--- code/gazebo/trunk/CMakeLists.txt2010-06-22 23:02:52 UTC (rev 8782)
+++ code/gazebo/trunk/CMakeLists.txt2010-06-22 23:03:53 UTC (rev 8783)
@@ -93,7 +93,8 @@
else (build_errors)
# Write the config.h file
- configure_file (${PROJECT_SOURCE_DIR}/config.h.in
${PROJECT_BINARY_DIR}/config.h)
+ configure_file (${PROJECT_SOURCE_DIR}/gazebo_config.h.in
${PROJECT_BINARY_DIR}/gazebo_config.h)
+ install(FILES ${PROJECT_BINARY_DIR}/gazebo_config.h DESTINATION
${CMAKE_INSTALL_PREFIX}/include/gazebo)
configure_file (${PROJECT_SOURCE_DIR}/gazebo.h.in
${PROJECT_BINARY_DIR}/gazebo.h)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/gazebo.h DESTINATION
${CMAKE_INSTALL_PREFIX}/include/gazebo)
@@ -110,10 +111,6 @@
if (BUILD_GAZEBO)
include (libgazebo)
-if (use_internal_assimp)
- add_subdirectory(3rd_party)
-endif (use_internal_assimp)
-
add_subdirectory(libgazebo)
add_subdirectory(server)
add_subdirectory(worlds)
Modified: code/gazebo/trunk/gazebo.h.in
===
--- code/gazebo/trunk/gazebo.h.in 2010-06-22 23:02:52 UTC (rev 8782)
+++ code/gazebo/trunk/gazebo.h.in 2010-06-22 23:03:53 UTC (rev 8783)
@@ -25,10 +25,5 @@
* SVN: $Id$
*/
-/* Version number */
-#define GAZEBO_MAJOR_VERSION ${GAZEBO_MAJOR_VERSION}
-#define GAZEBO_MINOR_VERSION ${GAZEBO_MINOR_VERSION}
-#define GAZEBO_PATCH_VERSION ${GAZEBO_PATCH_VERSION}
-#define GAZEBO_VERSION ${GAZEBO_VERSION}
-
+#include gazebo/gazebo_config.h
#include gazebo/gz.h
Copied: code/gazebo/trunk/gazebo_config.h.in (from rev 8771,
code/gazebo/branches/simpar/gazebo_config.h.in)
===
--- code/gazebo/trunk/gazebo_config.h.in(rev 0)
+++ code/gazebo/trunk/gazebo_config.h.in2010-06-22 23:03:53 UTC (rev
8783)
@@ -0,0 +1,18 @@
+/* config.h. Generated by CMake for @project_n...@. */
+
+/* Version number */
+#define GAZEBO_MAJOR_VERSION ${GAZEBO_MAJOR_VERSION}
+#define GAZEBO_MINOR_VERSION ${GAZEBO_MINOR_VERSION}
+#define GAZEBO_PATCH_VERSION ${GAZEBO_PATCH_VERSION}
+
+#define GAZEBO_VERSION ${GAZEBO_VERSION}
+
+#cmakedefine HAVE_OPENAL 1
+#cmakedefine HAVE_FFMPEG 1
+#cmakedefine HAVE_LTDL 1
+#cmakedefine HAVE_DL 1
+#cmakedefine ENABLE_SHADOWS 1
+#cmakedefine INCLUDE_BULLET 1
+#cmakedefine INCLUDE_ODE 1
+#cmakedefine INCLUDE_ODE_JOINT_DAMPING 1
+#cmakedefine INCLUDE_RTSHADER 1
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[Playerstage-commit] SF.net SVN: playerstage:[8769] code/gazebo/branches/simpar
Revision: 8769
http://playerstage.svn.sourceforge.net/playerstage/?rev=8769view=rev
Author: natepak
Date: 2010-06-22 02:19:53 + (Tue, 22 Jun 2010)
Log Message:
---
Added ability to log contacts
Modified Paths:
--
code/gazebo/branches/simpar/plugins/ball_drop.cc
code/gazebo/branches/simpar/plugins/box_stack.cc
code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
code/gazebo/branches/simpar/server/Entity.cc
code/gazebo/branches/simpar/server/Entity.hh
code/gazebo/branches/simpar/server/Logger.cc
code/gazebo/branches/simpar/server/World.cc
code/gazebo/branches/simpar/server/World.hh
code/gazebo/branches/simpar/server/physics/Body.cc
code/gazebo/branches/simpar/server/physics/Geom.cc
code/gazebo/branches/simpar/server/physics/Geom.hh
code/gazebo/branches/simpar/worlds/3shortstacks.world
code/gazebo/branches/simpar/worlds/empty.world
Modified: code/gazebo/branches/simpar/plugins/ball_drop.cc
===
--- code/gazebo/branches/simpar/plugins/ball_drop.cc2010-06-20 19:34:02 UTC
(rev 8768)
+++ code/gazebo/branches/simpar/plugins/ball_drop.cc2010-06-22 02:19:53 UTC
(rev 8769)
@@ -13,17 +13,17 @@
{
this-sphere = NULL;
this-model_name = sphere;
- //this-SpawnBall(0,0,5);
+ this-SpawnBall(0,0,5);
- for (double i=0.001; i 1e-5; i*=0.5)
-this-stepTimes.push_back(i);
+ //for (double i=0.001; i 1e-5; i*=0.5)
+ this-stepTimes.push_back(0.1);
- for (unsigned int i=10; i=100; i+=10)
-this-stepIters.push_back(i);
+ //for (unsigned int i=10; i=100; i+=10)
+ this-stepIters.push_back(10);
- this-stepTypes.push_back(robust);
- this-stepTypes.push_back(world);
- this-stepTypes.push_back(quick);
+ //this-stepTypes.push_back(robust);
+ //this-stepTypes.push_back(world);
+ //this-stepTypes.push_back(quick);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
@@ -74,13 +74,14 @@
modelbody:sphere name='body';
model geom:sphere name='geom';
modelsize0.25/size;
- modelmass1/mass;
+ modelmass10/mass;
modelkp1.0/kp;
modelkd1.0/kd;
modelbounce0/bounce;
modelbounceVel10/bounceVel;
modelslip10.01/slip1;
modelslip20.01/slip2;
+ modelenableContactstrue/enableContacts;
modelvisual;
model size0.5 0.5 0.5/size;
model meshunit_sphere/mesh;
@@ -101,6 +102,10 @@
this-count = 0;
this-prev_z = 0;
+ this-physics-SetStepType( *this-stepTypesIter );
+ this-physics-SetStepTime( *this-stepTimesIter );
+ this-physics-SetSORPGSIters( *this-stepItersIter );
+
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(BallDrop::UpdateCB, this));
@@ -108,7 +113,7 @@
public: void UpdateCB()
{
- /*if (this-sphere == NULL)
+ if (this-sphere == NULL)
{
this-sphere =
(Model*)World::Instance()-GetEntityByName(this-model_name);
if (this-sphere)
@@ -118,7 +123,7 @@
this-prevTime = Simulator::Instance()-GetRealTime();
if (LOG)
-Logger::Instance()-AddLog(sphere,/tmp/sphere.log);
+
Logger::Instance()-AddLog(sphere::body::COM_Entity::geom,/tmp/sphere.log);
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(BallDrop::UpdateCB, this));
@@ -140,10 +145,9 @@
if (realTime - this-prevTime 10.0)
{
-*/
this-UpdateJob();
-//}
- //}
+}
+ }
}
public: void UpdateJob()
@@ -180,10 +184,9 @@
}
}
- /*this-physics-SetStepType( *this-stepTypesIter );
+ this-physics-SetStepType( *this-stepTypesIter );
this-physics-SetStepTime( *this-stepTimesIter );
this-physics-SetSORPGSIters( *this-stepItersIter );
- */
this-count++;
std::cout Type[ *this-stepTypesIter ]
Modified: code/gazebo/branches/simpar/plugins/box_stack.cc
===
--- code/gazebo/branches/simpar/plugins/box_stack.cc2010-06-20 19:34:02 UTC
(rev 8768)
+++ code/gazebo/branches/simpar/plugins/box_stack.cc2010-06-22 02:19:53 UTC
(rev 8769)
@@ -15,13 +15,13 @@
//for (double i=0.001; i 1e-5; i*=0.5)
//this-stepTimes.push_back(i);
- this-stepTimes.push_back(0.001);
+ this-stepTimes.push_back(0.01);
//for (unsigned int i=10; i=100; i+=10)
this-stepIters.push_back(100);
+ //this-stepTypes.push_back(quick);
//this-stepTypes.push_back(world);
- //this-stepTypes.push_back(quick);
this-stepTypes.push_back(robust
[Playerstage-commit] SF.net SVN: playerstage:[8768] code/gazebo/branches/simpar
Revision: 8768
http://playerstage.svn.sourceforge.net/playerstage/?rev=8768view=rev
Author: natepak
Date: 2010-06-20 19:34:02 + (Sun, 20 Jun 2010)
Log Message:
---
Updates to the plugins
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
code/gazebo/branches/simpar/plugins/pioneer_line.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-19
07:53:59 UTC (rev 8767)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-20
19:34:02 UTC (rev 8768)
@@ -2,7 +2,7 @@
#include gazebo/gazeboserver.hh
-#define LOG true
+#define LOG false
namespace gazebo
{
@@ -11,15 +11,15 @@
{
public: PioneerCircle() : Handler()
{
- for (double i=0.001; i 1e-5; i*=0.5)
-this-stepTimes.push_back(i);
+ //for (double i=0.001; i 1e-5; i*=0.5)
+this-stepTimes.push_back(0.001);
- for (unsigned int i=10; i=100; i+=10)
-this-stepIters.push_back(i);
+ //for (unsigned int i=10; i=100; i+=10)
+this-stepIters.push_back(10);
+ //this-stepTypes.push_back(world);
this-stepTypes.push_back(quick);
- this-stepTypes.push_back(robust);
- this-stepTypes.push_back(world);
+ //this-stepTypes.push_back(robust);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
@@ -32,7 +32,7 @@
if (LOG)
{
-this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
+this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
a);
fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
}
}
@@ -134,6 +134,7 @@
{
if (LOG)
{
+printf(HERE. Count[%d]\n, this-count);
Logger::Instance()-RemoveLog(pioneer);
std::string mv_cmd = std::string(mv /tmp/pioneer.log ) + this-path
+
Modified: code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_gripper.cc 2010-06-19
07:53:59 UTC (rev 8767)
+++ code/gazebo/branches/simpar/plugins/pioneer_gripper.cc 2010-06-20
19:34:02 UTC (rev 8768)
@@ -2,7 +2,7 @@
#include boost/bind.hpp
#include gazebo/gazeboserver.hh
-#define LOG false
+#define LOG true
namespace gazebo
{
@@ -13,14 +13,15 @@
{
//for (double i=0.001; i 1e-5; i*=0.5)
//this-stepTimes.push_back(i);
- this-stepTimes.push_back(0.1);
+ this-stepTimes.push_back(0.0001);
- for (unsigned int i=10; i=100; i+=10)
-this-stepIters.push_back(i);
+ //for (unsigned int i=10; i=100; i+=10)
+//this-stepIters.push_back(10);
+ this-stepIters.push_back(10);
- this-stepTypes.push_back(quick);
- this-stepTypes.push_back(robust);
+ //this-stepTypes.push_back(quick);
this-stepTypes.push_back(world);
+ //this-stepTypes.push_back(robust);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
@@ -29,11 +30,11 @@
this-path = std::string(/home/nate/work/simpar/data/pioneer_gripper/);
system( (std::string(mkdir -p ) + this-path).c_str() );
- this-count = 0;
+ this-count = 1;
if (LOG)
{
-this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
+this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
a);
fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
}
}
@@ -58,12 +59,15 @@
}
}
this-robot-Reset();
+ this-box-Reset();
}
public: void Load()
{
std::string model_name = pioneer_gripper;
this-robot = (Model*)World::Instance()-GetEntityByName(model_name);
+ this-box = (Model*)World::Instance()-GetEntityByName(custom_box);
+ Simulator::Instance()-SetPaused(false);
if (this-robot)
{
@@ -85,19 +89,19 @@
Logger::Instance()-AddLog(custom_box,/tmp/box.log);
}
-/*this-physics-SetStepTime( *this-stepTimesIter );
+this-physics-SetStepTime( *this-stepTimesIter );
this-physics-SetStepType( *this-stepTypesIter );
this-physics-SetSORPGSIters( *this-stepItersIter );
std::cout Type[ *this-stepTypesIter ]
Time[ *this-stepTimesIter ]
Iters[ *this-stepItersIter ]\n;
-*/
}
else
std::cerr Unable to find model[ model_name ]\n;
this-spawned = false; this-leftForce = 0;
this-rightForce
[Playerstage-commit] SF.net SVN: playerstage:[8766] code/gazebo/branches/simpar/plugins/ pioneer_circle.cc
Revision: 8766
http://playerstage.svn.sourceforge.net/playerstage/?rev=8766view=rev
Author: natepak
Date: 2010-06-15 18:50:40 + (Tue, 15 Jun 2010)
Log Message:
---
Updates
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-15
03:40:50 UTC (rev 8765)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-15
18:50:40 UTC (rev 8766)
@@ -25,10 +25,10 @@
this-stepTimesIter = this-stepTimes.begin();
this-stepItersIter = this-stepIters.begin();
- this-path =
std::string(/home/nkoenig/work/simpar/data/pioneer_circle/);
+ this-path = std::string(/home/nate/work/simpar/data/pioneer_circle/);
system( (std::string(mkdir -p ) + this-path).c_str() );
- this-circleCount = 1;
+ this-circleCount = 0;
if (LOG)
{
@@ -108,7 +108,7 @@
this-startPose.pos == Vector3(0,0,0))
this-startPose = pose;
- if (this-circleCount = 1)
+ if (this-circleCount 3)
{
if (this-leftWheel-GetRelativeAngularVel().z 2.2)
this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.01));
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[Playerstage-commit] SF.net SVN: playerstage:[8763] code/gazebo/branches/simpar/plugins/ box_stack.cc
Revision: 8763
http://playerstage.svn.sourceforge.net/playerstage/?rev=8763view=rev
Author: natepak
Date: 2010-06-14 14:49:04 + (Mon, 14 Jun 2010)
Log Message:
---
Update to the box stack plugin
Modified Paths:
--
code/gazebo/branches/simpar/plugins/box_stack.cc
Modified: code/gazebo/branches/simpar/plugins/box_stack.cc
===
--- code/gazebo/branches/simpar/plugins/box_stack.cc2010-06-11 20:54:20 UTC
(rev 8762)
+++ code/gazebo/branches/simpar/plugins/box_stack.cc2010-06-14 14:49:04 UTC
(rev 8763)
@@ -20,9 +20,9 @@
//for (unsigned int i=10; i=100; i+=10)
this-stepIters.push_back(100);
- this-stepTypes.push_back(world);
- this-stepTypes.push_back(quick);
- //this-stepTypes.push_back(robust);
+ //this-stepTypes.push_back(world);
+ //this-stepTypes.push_back(quick);
+ this-stepTypes.push_back(robust);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
@@ -51,7 +51,7 @@
{
this-box = (Model*)World::Instance()-GetEntityByName(board);
this-physics = World::Instance()-GetPhysicsEngine();
- this-count = 0;
+ this-count = 2;
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(BoxStack::UpdateCB, this));
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[Playerstage-commit] SF.net SVN: playerstage:[8764] code/gazebo/branches/simpar
Revision: 8764
http://playerstage.svn.sourceforge.net/playerstage/?rev=8764view=rev
Author: natepak
Date: 2010-06-14 15:02:52 + (Mon, 14 Jun 2010)
Log Message:
---
Removed internal assimp
Modified Paths:
--
code/gazebo/branches/simpar/CMakeLists.txt
code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
Removed Paths:
-
code/gazebo/branches/simpar/3rd_party/
Modified: code/gazebo/branches/simpar/CMakeLists.txt
===
--- code/gazebo/branches/simpar/CMakeLists.txt 2010-06-14 14:49:04 UTC (rev
8763)
+++ code/gazebo/branches/simpar/CMakeLists.txt 2010-06-14 15:02:52 UTC (rev
8764)
@@ -111,10 +111,6 @@
if (BUILD_GAZEBO)
include (libgazebo)
-if (use_internal_assimp)
- add_subdirectory(3rd_party)
-endif (use_internal_assimp)
-
add_subdirectory(libgazebo)
add_subdirectory(server)
add_subdirectory(worlds)
Modified: code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
===
--- code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-06-14
14:49:04 UTC (rev 8763)
+++ code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-06-14
15:02:52 UTC (rev 8764)
@@ -4,8 +4,6 @@
# John - ode version with joint damping
SET(ODE_JOINT_DAMPING_VERSION 0.11.1.1 CACHE INTERNAL ODE version with joint
damping FORCE)
-set (use_internal_assimp OFF CACHE BOOL Use internal assimp FORCE)
-
set (INCLUDE_WEBGAZEBO ON CACHE BOOL Build webgazebo FORCE)
set (OGRE_LIBRARY_PATH /usr/local/lib CACHE INTERNAL Ogre library path)
@@ -480,18 +478,15 @@
find_library(assimp_library assimp ENV LD_LIBRARY_PATH)
- if (NOT assimp_library)
-message (STATUS Looking for libassimp - not found. Using builtin
version.)
-#BUILD_ERROR(libassimp not found. See the following website for
installation instructions: http://assimp.sourceforge.net;)
- else (NOT assimp_library)
+ if (assimp_library)
message (STATUS Looking for libassimp - found)
APPEND_TO_CACHED_LIST(assimp_libraries
Assimp libraries Use this to override automatic
detection.
${assimp_library})
- endif (NOT assimp_library)
+ endif (assimp_library)
if (NOT assimp_include_dir OR NOT assimp_library)
-set (use_internal_assimp ON CACHE BOOL Use internal assimp FORCE)
+BUILD_ERROR(assimp not found. See the following website for installation
instructions: http://assimp.sourceforge.net;)
endif (NOT assimp_include_dir OR NOT assimp_library)
endif (NOT assimp_include_dirs AND NOT assimp_library_dirs AND NOT
assimp_libraries )
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[Playerstage-commit] SF.net SVN: playerstage:[8765] code/gazebo/branches/simpar
Revision: 8765
http://playerstage.svn.sourceforge.net/playerstage/?rev=8765view=rev
Author: natepak
Date: 2010-06-15 03:40:50 + (Tue, 15 Jun 2010)
Log Message:
---
Fixed searching for assimp, and the pioneer circle plugin
Modified Paths:
--
code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Modified: code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
===
--- code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-06-14
15:02:52 UTC (rev 8764)
+++ code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-06-15
03:40:50 UTC (rev 8765)
@@ -49,7 +49,7 @@
#
# Find ODE
- pkg_check_modules(ODE ode=${ODE_VERSION})
+ pkg_check_modules(ODE ode)
IF (NOT ODE_FOUND)
BUILD_ERROR (ODE and development files not found. See the following
website: http://www.ode.org;)
set (INCLUDE_ODE FALSE CACHE BOOL Include support for ODE)
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-14
15:02:52 UTC (rev 8764)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-15
03:40:50 UTC (rev 8765)
@@ -17,18 +17,18 @@
for (unsigned int i=10; i=100; i+=10)
this-stepIters.push_back(i);
+ this-stepTypes.push_back(quick);
this-stepTypes.push_back(robust);
this-stepTypes.push_back(world);
- this-stepTypes.push_back(quick);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
this-stepItersIter = this-stepIters.begin();
- this-path = std::string(/home/nate/work/simpar/data/pioneer_circle/);
+ this-path =
std::string(/home/nkoenig/work/simpar/data/pioneer_circle/);
system( (std::string(mkdir -p ) + this-path).c_str() );
- this-circleCount = 4;
+ this-circleCount = 1;
if (LOG)
{
@@ -66,6 +66,7 @@
if (this-robot)
{
+this-startPose = this-robot-GetWorldPose();
this-robot-GetVisualNode()-SetRibbonTrail(true);
this-leftWheel = (Body*)this-robot-GetChild(left_wheel);
this-rightWheel = (Body*)this-robot-GetChild(right_wheel);
@@ -73,6 +74,8 @@
this-physics = World::Instance()-GetPhysicsEngine();
this-prevTime = Simulator::Instance()-GetSimTime();
+this-startTime = Simulator::Instance()-GetSimTime();
+
this-count = 0;
this-circleCount = 0;
@@ -82,6 +85,10 @@
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(PioneerCircle::UpdateCB, this));
+this-physics-SetStepType( *this-stepTypesIter );
+this-physics-SetStepTime( *this-stepTimesIter );
+this-physics-SetSORPGSIters( *this-stepItersIter );
+
std::cout Type[ *this-stepTypesIter ]
Time[ *this-stepTimesIter ]
Iters[ *this-stepItersIter ]\n;
@@ -95,22 +102,32 @@
Time simTime = Simulator::Instance()-GetSimTime();
Pose3d pose = this-robot-GetWorldPose();
+ double dist = pose.pos.Distance(this-startPose.pos);
+
+ if (simTime - this-startTime 10
+ this-startPose.pos == Vector3(0,0,0))
+this-startPose = pose;
+
if (this-circleCount = 1)
{
if (this-leftWheel-GetRelativeAngularVel().z 2.2)
- this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.2));
+ this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.01));
if (this-rightWheel-GetRelativeAngularVel().z 2.1)
- this-rightWheel-SetTorque(Vector3(0.0, 0.0, -0.2));
+ this-rightWheel-SetTorque(Vector3(0.0, 0.0, -0.01));
-if (simTime - this-prevTime 10.0 fabs(pose.pos.x) 0.1 )
+if (simTime - this-prevTime 10.0 dist this-prevDist )
{
+ this-startPose = pose;
+ std::cout CIRCLE\n;
this-prevTime = simTime;
this-circleCount++;
}
}
else
this-UpdateJob();
+
+ this-prevDist = dist;
}
public: void UpdateJob()
@@ -179,10 +196,13 @@
private: Body *rightWheel;
private: FILE *indexFile;
-private: Time prevTime;
+private: Time prevTime, startTime;
private: PhysicsEngine *physics;
private: unsigned int circleCount;
private: unsigned int count;
+
+private: double prevDist;
+private: Pose3d startPose;
};
GZ_REGISTER_HANDLER(PioneerCircle, PioneerCircle)
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-06-14 15:02:52 UTC
(rev
[Playerstage-commit] SF.net SVN: playerstage:[8761] code/gazebo/branches/simpar
Revision: 8761
http://playerstage.svn.sourceforge.net/playerstage/?rev=8761view=rev
Author: natepak
Date: 2010-06-11 18:12:50 + (Fri, 11 Jun 2010)
Log Message:
---
Update the box push plugin
Modified Paths:
--
code/gazebo/branches/simpar/plugins/box_push.cc
code/gazebo/branches/simpar/server/Quatern.cc
code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc
code/gazebo/branches/simpar/worlds/3stacks.world
code/gazebo/branches/simpar/worlds/single_box.world
Modified: code/gazebo/branches/simpar/plugins/box_push.cc
===
--- code/gazebo/branches/simpar/plugins/box_push.cc 2010-06-11 14:22:25 UTC
(rev 8760)
+++ code/gazebo/branches/simpar/plugins/box_push.cc 2010-06-11 18:12:50 UTC
(rev 8761)
@@ -17,12 +17,12 @@
//this-stepTimes.push_back(i);
this-stepTimes.push_back(0.001);
- for (unsigned int i=10; i=100; i+=10)
-this-stepIters.push_back(i);
+ //for (unsigned int i=10; i=100; i+=10)
+ this-stepIters.push_back(100);
+ this-stepTypes.push_back(quick);
+ this-stepTypes.push_back(world);
this-stepTypes.push_back(robust);
- this-stepTypes.push_back(world);
- this-stepTypes.push_back(quick);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
@@ -45,20 +45,6 @@
World::Instance()-DisconnectWorldUpdateStartSignal(
boost::bind(BoxPush::UpdateCB, this));
-
- /*for (unsigned int i=0; i this-box-GetChildCount(); i++)
- {
-Body *body = dynamic_castBody*(this-box-GetChild(i));
-if (body)
-{
- body-SetForce(Vector3(0,0,0));
- body-SetTorque(Vector3(0,0,0));
- body-SetLinearVel(Vector3(0,0,0));
- body-SetAngularVel(Vector3(0,0,0));
-}
- }
- this-box-Reset();
- */
}
public: void Load()
@@ -67,6 +53,7 @@
this-physics = World::Instance()-GetPhysicsEngine();
this-count = 0;
this-velReached = false;
+ this-skipCount = 10;
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(BoxPush::UpdateCB, this));
@@ -83,6 +70,10 @@
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(BoxPush::UpdateCB, this));
+this-physics-SetStepType( *this-stepTypesIter );
+this-physics-SetStepTime( *this-stepTimesIter );
+this-physics-SetSORPGSIters( *this-stepItersIter );
+
std::cout Type[ *this-stepTypesIter ]
Time[ *this-stepTimesIter ]
Iters[ *this-stepItersIter ]\n;
@@ -91,6 +82,12 @@
public: void UpdateCB()
{
+ if (this-skipCount 0)
+ {
+this-skipCount--;
+return;
+ }
+
Time simTime = Simulator::Instance()-GetSimTime();
Pose3d pose = this-box-GetWorldPose();
Body *body = (Body*)this-box-GetChild(0);
@@ -148,6 +145,8 @@
this-physics-SetStepTime( *this-stepTimesIter );
this-physics-SetSORPGSIters( *this-stepItersIter );
+ this-skipCount = 10;
+
this-count++;
std::cout Type[ *this-stepTypesIter ]
Time[ *this-stepTimesIter ]
@@ -178,6 +177,7 @@
private: PhysicsEngine *physics;
private: unsigned int count;
private: bool velReached;
+private: int skipCount;
};
GZ_REGISTER_HANDLER(BoxPush, BoxPush)
Modified: code/gazebo/branches/simpar/server/Quatern.cc
===
--- code/gazebo/branches/simpar/server/Quatern.cc 2010-06-11 14:22:25 UTC
(rev 8760)
+++ code/gazebo/branches/simpar/server/Quatern.cc 2010-06-11 18:12:50 UTC
(rev 8761)
@@ -414,6 +414,9 @@
this-z = 0;
if (!finite(this-u))
this-u = 1;
+
+ if (this-u == 0 this-x == 0 this-y == 0 this-z == 0)
+this-u = 1;
}
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc
===
--- code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc 2010-06-11
14:22:25 UTC (rev 8760)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc 2010-06-11
18:12:50 UTC (rev 8761)
@@ -114,6 +114,9 @@
pp.Correct();
+ if ( isnan(pp.pos.x) || isnan(pp.pos.y) || isnan(pp.pos.z) )
+printf(NAN!!!\n);
+
self-SetWorldPose(pp, false);
}
Modified: code/gazebo/branches/simpar/worlds/3stacks.world
===
--- code/gazebo/branches/simpar/worlds/3stacks.world2010-06-11 14:22:25 UTC
(rev 8760)
+++ code/gazebo/branches/simpar/worlds/3stacks.world2010-06-11 18:12:50 UTC
(rev 8761)
@@ -15,14 +15,14 @@
verbosity5/verbosity
physics:ode
-stepTime0.01/stepTime
+stepTime0.001/stepTime
gravity0 0 -9.8/gravity
cfm0.001/cfm
erp0.1/erp
[Playerstage-commit] SF.net SVN: playerstage:[8762] code/gazebo/branches/simpar
Revision: 8762
http://playerstage.svn.sourceforge.net/playerstage/?rev=8762view=rev
Author: natepak
Date: 2010-06-11 20:54:20 + (Fri, 11 Jun 2010)
Log Message:
---
Added box_stack plugin
Modified Paths:
--
code/gazebo/branches/simpar/plugins/CMakeLists.txt
code/gazebo/branches/simpar/worlds/3stacks.world
Added Paths:
---
code/gazebo/branches/simpar/plugins/box_stack.cc
code/gazebo/branches/simpar/worlds/3shortstacks.world
Modified: code/gazebo/branches/simpar/plugins/CMakeLists.txt
===
--- code/gazebo/branches/simpar/plugins/CMakeLists.txt 2010-06-11 18:12:50 UTC
(rev 8761)
+++ code/gazebo/branches/simpar/plugins/CMakeLists.txt 2010-06-11 20:54:20 UTC
(rev 8762)
@@ -20,6 +20,7 @@
pioneer_gripper
ball_drop
box_push
+ box_stack
)
Added: code/gazebo/branches/simpar/plugins/box_stack.cc
===
--- code/gazebo/branches/simpar/plugins/box_stack.cc
(rev 0)
+++ code/gazebo/branches/simpar/plugins/box_stack.cc2010-06-11 20:54:20 UTC
(rev 8762)
@@ -0,0 +1,158 @@
+#include boost/bind.hpp
+
+#include gazebo/gazeboserver.hh
+
+#define LOG true
+
+namespace gazebo
+{
+
+ class BoxStack : public Handler
+ {
+public: BoxStack() : Handler()
+{
+ this-box = NULL;
+
+ //for (double i=0.001; i 1e-5; i*=0.5)
+//this-stepTimes.push_back(i);
+ this-stepTimes.push_back(0.001);
+
+ //for (unsigned int i=10; i=100; i+=10)
+ this-stepIters.push_back(100);
+
+ this-stepTypes.push_back(world);
+ this-stepTypes.push_back(quick);
+ //this-stepTypes.push_back(robust);
+
+ this-stepTypesIter = this-stepTypes.begin();
+ this-stepTimesIter = this-stepTimes.begin();
+ this-stepItersIter = this-stepIters.begin();
+
+ this-path = std::string(/home/nate/work/simpar/data/box_stack/);
+ system( (std::string(mkdir -p ) + this-path).c_str() );
+
+ if (LOG)
+ {
+this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
+fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
+ }
+}
+
+public: ~BoxStack()
+{
+ if (LOG)
+fclose(this-indexFile);
+
+ World::Instance()-DisconnectWorldUpdateStartSignal(
+ boost::bind(BoxStack::UpdateCB, this));
+}
+
+public: void Load()
+{
+ this-box = (Model*)World::Instance()-GetEntityByName(board);
+ this-physics = World::Instance()-GetPhysicsEngine();
+ this-count = 0;
+
+ World::Instance()-ConnectWorldUpdateStartSignal(
+boost::bind(BoxStack::UpdateCB, this));
+
+ if (this-box)
+ {
+this-prevTime = Simulator::Instance()-GetSimTime();
+
+if (LOG)
+ Logger::Instance()-AddLog(board,/tmp/board.log);
+
+World::Instance()-ConnectWorldUpdateStartSignal(
+boost::bind(BoxStack::UpdateCB, this));
+
+this-physics-SetStepType( *this-stepTypesIter );
+this-physics-SetStepTime( *this-stepTimesIter );
+this-physics-SetSORPGSIters( *this-stepItersIter );
+
+std::cout Type[ *this-stepTypesIter ]
+ Time[ *this-stepTimesIter ]
+ Iters[ *this-stepItersIter ]\n;
+ }
+ Simulator::Instance()-SetPaused(false);
+}
+
+public: void UpdateCB()
+{
+ if (Simulator::Instance()-GetSimTime() - this-prevTime 20.0)
+this-UpdateJob();
+}
+
+public: void UpdateJob()
+{
+ if (LOG)
+ {
+Logger::Instance()-RemoveLog(board);
+
+std::string mv_cmd = std::string(mv /tmp/board.log ) + this-path +
+ box_stack_ + boost::lexical_caststd::string(this-count) +
+ .data;
+
+fprintf(this-indexFile,%d %s %f %d\n,this-count,
+(*this-stepTypesIter).c_str(), *this-stepTimesIter,
+*this-stepItersIter);
+
+system(mv_cmd.c_str());
+ }
+
+ this-stepItersIter++;
+ if (this-stepItersIter == this-stepIters.end())
+ {
+this-stepItersIter = this-stepIters.begin();
+this-stepTimesIter++;
+if (this-stepTimesIter == this-stepTimes.end())
+{
+ this-stepTimesIter = this-stepTimes.begin();
+ this-stepTypesIter++;
+ if (this-stepTypesIter == this-stepTypes.end())
+ {
+Simulator::Instance()-SetUserQuit();
+Simulator::Instance()-RemoveHandler(this-name);
+return;
+ }
+}
+ }
+
+ this-physics-SetStepType( *this-stepTypesIter );
+ this-physics-SetStepTime( *this-stepTimesIter );
+ this-physics-SetSORPGSIters( *this-stepItersIter );
+
+ World::Instance()-Reset();
+
+ this-count++;
+ std::cout Type[ *this-stepTypesIter
[Playerstage-commit] SF.net SVN: playerstage:[8755] code/gazebo/branches/simpar/Media/models/ pr2_gripper
Revision: 8755
http://playerstage.svn.sourceforge.net/playerstage/?rev=8755view=rev
Author: natepak
Date: 2010-06-09 15:26:38 + (Wed, 09 Jun 2010)
Log Message:
---
Added a pr2 gripper model
Added Paths:
---
code/gazebo/branches/simpar/Media/models/pr2_gripper/CMakeLists.txt
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_H_Color_100430.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_H_UV_100430.dae
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_H_UV_100430.dae
code/gazebo/branches/simpar/Media/models/pr2_gripper/fingertip_H_Color_100430.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/float_H_Color_100430.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/float_H_UV_100430.dae
code/gazebo/branches/simpar/Media/models/pr2_gripper/gripper_palm.dae
code/gazebo/branches/simpar/Media/models/pr2_gripper/gripper_palm_color.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/gripper_palm_normals.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger.dae
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_color.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_normals.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_tip.dae
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_tip_color.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_tip_normals.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_float.dae
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_float_color.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_float_normals.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/palm_H_Color_100430.tif
code/gazebo/branches/simpar/Media/models/pr2_gripper/palm_H_UV_100430.dae
Removed Paths:
-
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_l.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_pad2_l.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_pad2_r.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_r.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/gripper_palm.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_tip.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/l_floating.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/upper_finger_l.stl
code/gazebo/branches/simpar/Media/models/pr2_gripper/upper_finger_r.stl
Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/CMakeLists.txt
===
--- code/gazebo/branches/simpar/Media/models/pr2_gripper/CMakeLists.txt
(rev 0)
+++ code/gazebo/branches/simpar/Media/models/pr2_gripper/CMakeLists.txt
2010-06-09 15:26:38 UTC (rev 8755)
@@ -0,0 +1,26 @@
+SET (files
+ finger_H_UV_100430.dae
+ finger_tip_H_UV_100430.dae
+ float_H_UV_100430.dae
+ gripper_palm.dae
+ l_finger.dae
+ l_finger_tip.dae
+ l_float.dae
+ palm_H_UV_100430.dae
+ finger_H_Color_100430.tif
+ fingertip_H_Color_100430.tif
+ float_H_Color_100430.tif
+ gripper_palm_color.tif
+ gripper_palm_normals.tif
+ l_finger_color.tif
+ l_finger_normals.tif
+ l_finger_tip_color.tif
+ l_finger_tip_normals.tif
+ l_float_color.tif
+ l_float_normals.tif
+ palm_H_Color_100430.tif
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/models/pr2_gripper)
+
+
Added:
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_H_Color_100430.tif
===
(Binary files differ)
Property changes on:
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_H_Color_100430.tif
___
Added: svn:mime-type
+ application/octet-stream
Added:
code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_H_UV_100430.dae
===
--- code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_H_UV_100430.dae
(rev 0)
+++ code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_H_UV_100430.dae
2010-06-09 15:26:38 UTC (rev 8755)
@@ -0,0 +1,159 @@
+?xml version=1.0 encoding=utf-8?
+COLLADA xmlns=http://www.collada.org/2005/11/COLLADASchema; version=1.4.1
+ asset
+contributor
+ authorWakiMudi/author
+ authoring_toolOpenCOLLADA2009 x64/authoring_tool
+ comments
+ ColladaMaya export options:
+
bakeTransforms=0;relativePaths=0;copyTextures=0;exportTriangles=0;exportCgfxFileReferences=1;
+
isSampling=0;curveConstrainSampling=0;removeStaticCurves=1;exportPolygonMeshes=1;exportLights=1
[Playerstage-commit] SF.net SVN: playerstage:[8756] code/gazebo/branches/simpar
Revision: 8756
http://playerstage.svn.sourceforge.net/playerstage/?rev=8756view=rev
Author: natepak
Date: 2010-06-09 15:28:40 + (Wed, 09 Jun 2010)
Log Message:
---
Update the pioneer2 gripper and added more plugins
Modified Paths:
--
code/gazebo/branches/simpar/Media/materials/scripts/Gazebo.material
code/gazebo/branches/simpar/plugins/CMakeLists.txt
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/plugins/pioneer_line.cc
code/gazebo/branches/simpar/server/physics/Joint.cc
code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc
code/gazebo/branches/simpar/server/rendering/OgreVisual.cc
code/gazebo/branches/simpar/worlds/empty.world
code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model
code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world
Added Paths:
---
code/gazebo/branches/simpar/plugins/ball_drop.cc
code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
Modified: code/gazebo/branches/simpar/Media/materials/scripts/Gazebo.material
===
--- code/gazebo/branches/simpar/Media/materials/scripts/Gazebo.material
2010-06-09 15:26:38 UTC (rev 8755)
+++ code/gazebo/branches/simpar/Media/materials/scripts/Gazebo.material
2010-06-09 15:28:40 UTC (rev 8756)
@@ -103,8 +103,6 @@
{
ambient 0.00 0.00 0.00 1.00
diffuse 0.00 0.00 0.00 1.00
- specular 0.00 0.00 0.00 1.00
- emissive 0.00 0.00 0.00 0.00
lighting on
shading phong
}
Modified: code/gazebo/branches/simpar/plugins/CMakeLists.txt
===
--- code/gazebo/branches/simpar/plugins/CMakeLists.txt 2010-06-09 15:26:38 UTC
(rev 8755)
+++ code/gazebo/branches/simpar/plugins/CMakeLists.txt 2010-06-09 15:28:40 UTC
(rev 8756)
@@ -16,7 +16,10 @@
endif (PKG_CONFIG_FOUND)
set (plugins pioneer_line
- pioneer_circle)
+ pioneer_circle
+ pioneer_gripper
+ ball_drop
+ )
foreach (src ${plugins})
Added: code/gazebo/branches/simpar/plugins/ball_drop.cc
===
--- code/gazebo/branches/simpar/plugins/ball_drop.cc
(rev 0)
+++ code/gazebo/branches/simpar/plugins/ball_drop.cc2010-06-09 15:28:40 UTC
(rev 8756)
@@ -0,0 +1,225 @@
+#include boost/bind.hpp
+
+#include gazebo/gazeboserver.hh
+
+#define LOG true
+
+namespace gazebo
+{
+
+ class BallDrop : public Handler
+ {
+public: BallDrop() : Handler()
+{
+ this-sphere = NULL;
+ this-model_name = sphere;
+ //this-SpawnBall(0,0,5);
+
+ for (double i=0.001; i 1e-5; i*=0.5)
+this-stepTimes.push_back(i);
+
+ for (unsigned int i=10; i=100; i+=10)
+this-stepIters.push_back(i);
+
+ this-stepTypes.push_back(robust);
+ this-stepTypes.push_back(world);
+ this-stepTypes.push_back(quick);
+
+ this-stepTypesIter = this-stepTypes.begin();
+ this-stepTimesIter = this-stepTimes.begin();
+ this-stepItersIter = this-stepIters.begin();
+
+ this-path = std::string(/home/nate/work/simpar/data/ball_drop/);
+ system( (std::string(mkdir -p ) + this-path).c_str() );
+
+ if (LOG)
+ {
+this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
+fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
+ }
+}
+
+public: ~BallDrop()
+{
+ if (LOG)
+fclose(this-indexFile);
+
+ World::Instance()-DisconnectWorldUpdateStartSignal(
+ boost::bind(BallDrop::UpdateCB, this));
+
+ /*for (unsigned int i=0; i this-sphere-GetChildCount(); i++)
+ {
+Body *body = dynamic_castBody*(this-sphere-GetChild(i));
+if (body)
+{
+ body-SetForce(Vector3(0,0,0));
+ body-SetTorque(Vector3(0,0,0));
+ body-SetLinearVel(Vector3(0,0,0));
+ body-SetAngularVel(Vector3(0,0,0));
+}
+ }
+ this-sphere-Reset();
+ */
+}
+
+public: void SpawnBall(double x, double y, double z=1)
+{
+ std::ostringstream model;
+
+ model ?xml version='1.0'? gazebo:world
xmlns:xi='http://www.w3.org/2001/XInclude'
xmlns:gazebo='http://playerstage.sourceforge.net/gazebo/xmlschema/#gz'
xmlns:model='http://playerstage.sourceforge.net/gazebo/xmlschema/#model'
xmlns:sensor='http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor'
xmlns:body='http://playerstage.sourceforge.net/gazebo/xmlschema/#body'
xmlns:geom='http://playerstage.sourceforge.net/gazebo/xmlschema/#geom'
xmlns:joint='http://playerstage.sourceforge.net/gazebo/xmlschema/#joint'
xmlns:interface='http
[Playerstage-commit] SF.net SVN: playerstage:[8757] code/gazebo/branches/simpar/worlds
Revision: 8757 http://playerstage.svn.sourceforge.net/playerstage/?rev=8757view=rev Author: natepak Date: 2010-06-09 15:50:46 + (Wed, 09 Jun 2010) Log Message: --- Updated the pioneer2 gripper Modified Paths: -- code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world Modified: code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model === --- code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model 2010-06-09 15:28:40 UTC (rev 8756) +++ code/gazebo/branches/simpar/worlds/models/pioneer2gripper.model 2010-06-09 15:50:46 UTC (rev 8757) @@ -1,7 +1,7 @@ ?xml version=1.0? !-- Generic Pioneer2dx Model -- -model:physical name=default_pioneer_model +model:physical name=pioneer_gripper xmlns:model=http://playerstage.sourceforge.net/gazebo/xmlschema/#model; xmlns:sensor=http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor; xmlns:body=http://playerstage.sourceforge.net/gazebo/xmlschema/#body; @@ -12,18 +12,18 @@ xmlns:interface=http://playerstage.sourceforge.net/gazebo/xmlschema/#interface; -xyz0 0 0.0/xyz +xyz0 0 0.065/xyz rpy0.0 0.0 0.0/rpy canonicalBodygripper_base_body/canonicalBody body:box name=gripper_base_body - xyz0.0 0 0.065/xyz + xyz0.0 0 0.0/xyz geom:box name=gripper_base_geom xyz0 0 0/xyz size0.053 0.123 0.130/size -mass0.1/mass +mass10.1/mass visual size0.053 0.123 0.130/size @@ -89,7 +89,7 @@ -- /body:box -joint:hinge name=fixed +!--joint:hinge name=fixed body1gripper_base_body/body1 body2world/body2 anchorgripper_base_body/anchor @@ -100,6 +100,7 @@ erp0.4/erp cfm0.01/cfm /joint:hinge +-- joint:slider name=lift_slider_joint Modified: code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world === --- code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world 2010-06-09 15:28:40 UTC (rev 8756) +++ code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world 2010-06-09 15:50:46 UTC (rev 8757) @@ -24,8 +24,8 @@ cfm0.01/cfm erp0.2/erp -stepTyperobust/stepType -stepIters10/stepIters +stepTypeworld/stepType +stepIters100/stepIters stepW1.3/stepW contactMaxCorrectingVel100.0/contactMaxCorrectingVel contactSurfaceLayer0.00/contactSurfaceLayer @@ -59,34 +59,117 @@ /body:plane /model:physical - !--model:physical name=pioneer2dx_model1 -xyz0 0 0.148/xyz + model:physical name=pioneer_gripper +xyz0 0 0.065/xyz rpy0.0 0.0 0.0/rpy + +body:box name=gripper_base_body + xyz0.0 0 0.0/xyz + geom:box name=gripper_base_geom +xyz0 0 0/xyz +size0.053 0.123 0.130/size +mass10.1/mass +visual + size0.053 0.123 0.130/size + meshunit_box/mesh + materialGazebo/Black/material +/visual + /geom:box +/body:box + +body:box name=lift_body + xyz0.061 0 0/xyz + geom:box name=lift_geom +xyz0 0 0/xyz +size0.069 0.313 0.063/size +mass0.1/mass +visual + size0.069 0.313 0.063/size + meshunit_box/mesh + materialGazebo/Black/material +/visual + /geom:box +/body:box + +body:box name=left_paddle_body + xyz0.145 0.0135 0/xyz + geom:box name=left_paddle_geom +xyz0 0 0/xyz +size0.095 0.025 0.039/size +mass0.1/mass +visual + size0.095 0.025 0.039/size + meshunit_box/mesh + materialGazebo/Blue/material +/visual + /geom:box +/body:box + +body:box name=right_paddle_body + xyz0.145 -0.0135 0/xyz + geom:box name=right_paddle_geom +xyz0 0 0/xyz +size0.095 0.025 0.039/size +mass0.1/mass + +visual + size0.095 0.025 0.039/size + meshunit_box/mesh + materialGazebo/Red/material +/visual + /geom:box +/body:box + +!--joint:hinge name=fixed + body1gripper_base_body/body1 + body2world/body2 + anchorgripper_base_body/anchor + anchorOffset0 0 -0.130/anchorOffset + axis0 0 1/axis + lowStop0/lowStop + highStop0/highStop + erp0.4/erp + cfm0.01/cfm +/joint:hinge -- + + +joint:slider name=lift_slider_joint + body1gripper_base_body/body1 + body2lift_body/body2 + anchorgripper_base_body/anchor + axis0 0 1/axis + lowStop-0.1/lowStop + highStop0.1/highStop + erp0.3/erp + cfm10e-5/cfm +/joint:slider + +joint:slider name=left_paddle_joint + body1lift_body/body1 + body2left_paddle_body/body2 + anchorlift_body/anchor + anchorOffset0.085 0 0 /anchorOffset + axis0 1 0/axis + lowStop-0.12/lowStop
[Playerstage-commit] SF.net SVN: playerstage:[8758] code/gazebo/branches/simpar
Revision: 8758
http://playerstage.svn.sourceforge.net/playerstage/?rev=8758view=rev
Author: natepak
Date: 2010-06-10 00:29:44 + (Thu, 10 Jun 2010)
Log Message:
---
Updates
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
code/gazebo/branches/simpar/worlds/pioneer2dx_gripper.world
Modified: code/gazebo/branches/simpar/plugins/pioneer_gripper.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_gripper.cc 2010-06-09
15:50:46 UTC (rev 8757)
+++ code/gazebo/branches/simpar/plugins/pioneer_gripper.cc 2010-06-10
00:29:44 UTC (rev 8758)
@@ -79,15 +79,19 @@
this-physics = World::Instance()-GetPhysicsEngine();
if (LOG)
- Logger::Instance()-AddLog(pioneer,/tmp/pioneer.log);
+{
+
Logger::Instance()-AddLog(pioneer_gripper::left_paddle_body,/tmp/pioneer_left.log);
+
Logger::Instance()-AddLog(pioneer_gripper::right_paddle_body,/tmp/pioneer_right.log);
+ Logger::Instance()-AddLog(custom_box,/tmp/box.log);
+}
/*this-physics-SetStepTime( *this-stepTimesIter );
this-physics-SetStepType( *this-stepTypesIter );
this-physics-SetSORPGSIters( *this-stepItersIter );
-*/
std::cout Type[ *this-stepTypesIter ]
Time[ *this-stepTimesIter ]
Iters[ *this-stepItersIter ]\n;
+*/
}
else
std::cerr Unable to find model[ model_name ]\n;
@@ -96,59 +100,33 @@
this-rightForce = 0;
}
-public: void SpawnBox(double x, double y, double z=1)
+public: void Open()
{
- std::ostringstream model;
+ Vector3 leftVel = this-leftPaddle-GetWorldLinearVel();
+ Vector3 rightVel = this-rightPaddle-GetWorldLinearVel();
- model ?xml version='1.0'? gazebo:world
xmlns:xi='http://www.w3.org/2001/XInclude'
xmlns:gazebo='http://playerstage.sourceforge.net/gazebo/xmlschema/#gz'
xmlns:model='http://playerstage.sourceforge.net/gazebo/xmlschema/#model'
xmlns:sensor='http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor'
xmlns:body='http://playerstage.sourceforge.net/gazebo/xmlschema/#body'
xmlns:geom='http://playerstage.sourceforge.net/gazebo/xmlschema/#geom'
xmlns:joint='http://playerstage.sourceforge.net/gazebo/xmlschema/#joint'
xmlns:interface='http://playerstage.sourceforge.net/gazebo/xmlschema/#interface'
xmlns:rendering='http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering'
xmlns:renderable='http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable'
xmlns:controller='http://playerstage.sourceforge.net/gazebo/xmlschema/#controller'
xmlns:physics='http://playerstage.sourceforge.net/gazebo/xmlschema/#physics'
;
-
- model model:physical name='custom_box';
- modelxyz x y z /xyz;
- modelrpy0 0 0/rpy;
- modelbody:box name='body';
- model geom:box name='geom';
- modelsize0.1 0.10 0.2/size;
- modelmass0.01/mass;
- modelkp1.0/kp;
- modelkd1.0/kd;
- modelbounce0/bounce;
- modelbounceVel10/bounceVel;
- modelslip10.01/slip1;
- modelslip20.01/slip2;
- modelvisual;
- model size0.1 0.1 0.2/size;
- model meshunit_box/mesh;
- model materialGazebo/Rocky/material;
- model/visual;
- model /geom:box;
- model/body:box;
- model /model:physical;
-
- model /gazebo:world;
-
- World::Instance()-InsertEntity( model.str() );
-
- this-spawned = true;
+ this-leftForce = (0.08 - leftVel.y) * 0.5;
+ this-rightForce = (-0.08 - rightVel.y) * 0.5;
}
-public: void Open()
+public: void Close()
{
- std::cout Open ;
- this-leftForce = 0.01;
- this-rightForce = -0.01;
+ Vector3 leftVel = this-leftPaddle-GetWorldLinearVel();
+ Vector3 rightVel = this-rightPaddle-GetWorldLinearVel();
+
+ this-leftForce = (-0.08 - leftVel.y) * 0.5;
+ this-rightForce = (0.08 - rightVel.y) * 0.5;
}
-public: void Close()
+public: void Grip()
{
- std::cout Close ;
- this-leftForce = -1.00;
- this-rightForce = 1.00;
+ this-leftForce = -10.0;
+ this-rightForce = 10.0;
}
public: void Lift()
{
- std::cout Lift ;
- this-liftBody-SetForce(Vector3(0,0,5.0));
+ this-liftBody-SetForce(Vector3(0,0,10.0));
}
public: bool IsOpen()
@@ -161,11 +139,8 @@
{
double diff = this-leftPaddle-GetWorldPose().pos.y -
this-rightPaddle-GetWorldPose().pos.y;
- std::cout DIFF[ diff ]\n;
return fabs(diff) 0.130;
- //return this-leftPaddle-GetWorldPose().pos.y = 0.07
- //this-rightPaddle-GetWorldPose().pos.y = -0.07;
}
public
[Playerstage-commit] SF.net SVN: playerstage:[8752] code/gazebo/branches/simpar
Revision: 8752
http://playerstage.svn.sourceforge.net/playerstage/?rev=8752view=rev
Author: natepak
Date: 2010-06-07 18:08:53 + (Mon, 07 Jun 2010)
Log Message:
---
Fixed a problem with the bullet compilation
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/plugins/pioneer_line.cc
code/gazebo/branches/simpar/server/physics/bullet/BulletMotionState.cc
code/gazebo/branches/simpar/server/physics/bullet/BulletMotionState.hh
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-06
12:49:34 UTC (rev 8751)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-07
18:08:53 UTC (rev 8752)
@@ -2,6 +2,8 @@
#include gazebo/gazeboserver.hh
+#define LOG false
+
namespace gazebo
{
@@ -15,9 +17,9 @@
for (unsigned int i=10; i=100; i+=10)
this-stepIters.push_back(i);
+ this-stepTypes.push_back(robust);
this-stepTypes.push_back(world);
this-stepTypes.push_back(quick);
- //this-stepTypes.push_back(robust);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
@@ -28,13 +30,17 @@
this-circleCount = 4;
- this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
- fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
+ if (LOG)
+ {
+this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
+fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
+ }
}
public: ~PioneerCircle()
{
- fclose(this-indexFile);
+ if (LOG)
+fclose(this-indexFile);
World::Instance()-DisconnectWorldUpdateStartSignal(
boost::bind(PioneerCircle::UpdateCB, this));
@@ -70,7 +76,8 @@
this-count = 0;
this-circleCount = 0;
-Logger::Instance()-AddLog(pioneer,/tmp/pioneer.log);
+if (LOG)
+ Logger::Instance()-AddLog(pioneer,/tmp/pioneer.log);
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(PioneerCircle::UpdateCB, this));
@@ -108,17 +115,20 @@
public: void UpdateJob()
{
- Logger::Instance()-RemoveLog(pioneer);
+ if (LOG)
+ {
+Logger::Instance()-RemoveLog(pioneer);
- std::string mv_cmd = std::string(mv /tmp/pioneer.log ) + this-path +
-pioneer_circle_ + boost::lexical_caststd::string(this-count) +
-.data;
+std::string mv_cmd = std::string(mv /tmp/pioneer.log ) + this-path
+
+ pioneer_circle_ + boost::lexical_caststd::string(this-count) +
+ .data;
- fprintf(this-indexFile,%d %s %f %d\n,this-count,
- (*this-stepTypesIter).c_str(), *this-stepTimesIter,
- *this-stepItersIter);
+fprintf(this-indexFile,%d %s %f %d\n,this-count,
+(*this-stepTypesIter).c_str(), *this-stepTimesIter,
+*this-stepItersIter);
- system(mv_cmd.c_str());
+system(mv_cmd.c_str());
+ }
this-stepItersIter++;
if (this-stepItersIter == this-stepIters.end())
@@ -150,7 +160,9 @@
this-robot-Reset();
this-prevTime = Simulator::Instance()-GetRealTime();
- Logger::Instance()-AddLog(pioneer,/tmp/pioneer.log);
+
+ if (LOG)
+Logger::Instance()-AddLog(pioneer,/tmp/pioneer.log);
}
private: std::vectorunsigned int stepIters;
private: std::vectorunsigned int::iterator stepItersIter;
Modified: code/gazebo/branches/simpar/plugins/pioneer_line.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_line.cc 2010-06-06 12:49:34 UTC
(rev 8751)
+++ code/gazebo/branches/simpar/plugins/pioneer_line.cc 2010-06-07 18:08:53 UTC
(rev 8752)
@@ -2,6 +2,8 @@
#include boost/bind.hpp
#include gazebo/gazeboserver.hh
+#define LOG false
+
namespace gazebo
{
@@ -15,9 +17,9 @@
for (unsigned int i=10; i=100; i+=10)
this-stepIters.push_back(i);
+ this-stepTypes.push_back(robust);
this-stepTypes.push_back(world);
this-stepTypes.push_back(quick);
- //this-stepTypes.push_back(robust);
this-stepTypesIter = this-stepTypes.begin();
this-stepTimesIter = this-stepTimes.begin();
@@ -28,13 +30,17 @@
this-count = 0;
- this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
- fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
+ if (LOG)
+ {
+this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
+fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
+ }
}
public: ~PioneerLine
[Playerstage-commit] SF.net SVN: playerstage:[8753] code/gazebo/branches/simpar/Media/models
Revision: 8753 http://playerstage.svn.sourceforge.net/playerstage/?rev=8753view=rev Author: natepak Date: 2010-06-07 20:11:53 + (Mon, 07 Jun 2010) Log Message: --- Added meshes for pr2_gripper Modified Paths: -- code/gazebo/branches/simpar/Media/models/CMakeLists.txt Added Paths: --- code/gazebo/branches/simpar/Media/models/pr2_gripper/ code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_l.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_pad2_l.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_pad2_r.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_r.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/gripper_palm.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_tip.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/l_floating.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/upper_finger_l.stl code/gazebo/branches/simpar/Media/models/pr2_gripper/upper_finger_r.stl Modified: code/gazebo/branches/simpar/Media/models/CMakeLists.txt === --- code/gazebo/branches/simpar/Media/models/CMakeLists.txt 2010-06-07 18:08:53 UTC (rev 8752) +++ code/gazebo/branches/simpar/Media/models/CMakeLists.txt 2010-06-07 20:11:53 UTC (rev 8753) @@ -6,6 +6,7 @@ add_subdirectory(pioneer2at) add_subdirectory(sonyvid30) add_subdirectory(rovio) +add_subdirectory(pr2_gripper) set (files column.mesh geosphere4500.mesh Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_l.stl === (Binary files differ) Property changes on: code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_l.stl ___ Added: svn:mime-type + application/octet-stream Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_pad2_l.stl === (Binary files differ) Property changes on: code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_pad2_l.stl ___ Added: svn:mime-type + application/octet-stream Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_pad2_r.stl === (Binary files differ) Property changes on: code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_pad2_r.stl ___ Added: svn:mime-type + application/octet-stream Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_r.stl === (Binary files differ) Property changes on: code/gazebo/branches/simpar/Media/models/pr2_gripper/finger_tip_r.stl ___ Added: svn:mime-type + application/octet-stream Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/gripper_palm.stl === (Binary files differ) Property changes on: code/gazebo/branches/simpar/Media/models/pr2_gripper/gripper_palm.stl ___ Added: svn:mime-type + application/octet-stream Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger.stl === (Binary files differ) Property changes on: code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger.stl ___ Added: svn:executable + * Added: svn:mime-type + application/octet-stream Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_tip.stl === (Binary files differ) Property changes on: code/gazebo/branches/simpar/Media/models/pr2_gripper/l_finger_tip.stl ___ Added: svn:executable + * Added: svn:mime-type + application/octet-stream Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/l_floating.stl === (Binary files differ) Property changes on: code/gazebo/branches/simpar/Media/models/pr2_gripper/l_floating.stl ___ Added: svn:executable + * Added: svn:mime-type + application/octet-stream Added: code/gazebo/branches/simpar/Media/models/pr2_gripper/upper_finger_l.stl === (Binary files differ) Property
[Playerstage-commit] SF.net SVN: playerstage:[8751] code/gazebo/branches/simpar
Revision: 8751
http://playerstage.svn.sourceforge.net/playerstage/?rev=8751view=rev
Author: natepak
Date: 2010-06-06 12:49:34 + (Sun, 06 Jun 2010)
Log Message:
---
Fixing the ERP values
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/plugins/pioneer_line.cc
code/gazebo/branches/simpar/server/World.cc
code/gazebo/branches/simpar/server/physics/SurfaceParams.cc
code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-03
00:34:23 UTC (rev 8750)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-06
12:49:34 UTC (rev 8751)
@@ -7,10 +7,35 @@
class PioneerCircle : public Handler
{
-public: PioneerCircle() : Handler() {}
+public: PioneerCircle() : Handler()
+{
+ for (double i=0.001; i 1e-5; i*=0.5)
+this-stepTimes.push_back(i);
+ for (unsigned int i=10; i=100; i+=10)
+this-stepIters.push_back(i);
+
+ this-stepTypes.push_back(world);
+ this-stepTypes.push_back(quick);
+ //this-stepTypes.push_back(robust);
+
+ this-stepTypesIter = this-stepTypes.begin();
+ this-stepTimesIter = this-stepTimes.begin();
+ this-stepItersIter = this-stepIters.begin();
+
+ this-path = std::string(/home/nate/work/simpar/data/pioneer_circle/);
+ system( (std::string(mkdir -p ) + this-path).c_str() );
+
+ this-circleCount = 4;
+
+ this-indexFile = fopen(std::string(this-path + index.txt).c_str(),
w);
+ fprintf(this-indexFile, # index step_type step_time
step_iterations\n);
+}
+
public: ~PioneerCircle()
{
+ fclose(this-indexFile);
+
World::Instance()-DisconnectWorldUpdateStartSignal(
boost::bind(PioneerCircle::UpdateCB, this));
@@ -25,6 +50,7 @@
body-SetAngularVel(Vector3(0,0,0));
}
}
+ this-robot-Reset();
}
public: void Load()
@@ -38,8 +64,20 @@
this-leftWheel = (Body*)this-robot-GetChild(left_wheel);
this-rightWheel = (Body*)this-robot-GetChild(right_wheel);
+this-physics = World::Instance()-GetPhysicsEngine();
+
+this-prevTime = Simulator::Instance()-GetRealTime();
+this-count = 0;
+this-circleCount = 0;
+
+Logger::Instance()-AddLog(pioneer,/tmp/pioneer.log);
+
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(PioneerCircle::UpdateCB, this));
+
+std::cout Type[ *this-stepTypesIter ]
+ Time[ *this-stepTimesIter ]
+ Iters[ *this-stepItersIter ]\n;
}
else
std::cerr Unable to find model[ model_name ]\n;
@@ -47,16 +85,92 @@
public: void UpdateCB()
{
- if (this-leftWheel-GetRelativeAngularVel().z 2.2)
-this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.2));
+ Time realTime = Simulator::Instance()-GetRealTime();
+ Pose3d pose = this-robot-GetWorldPose();
- if (this-rightWheel-GetRelativeAngularVel().z 2.1)
-this-rightWheel-SetTorque(Vector3(0.0, 0.0, -0.2));
+ if (this-circleCount = 1)
+ {
+if (this-leftWheel-GetRelativeAngularVel().z 2.2)
+ this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.2));
+
+if (this-rightWheel-GetRelativeAngularVel().z 2.1)
+ this-rightWheel-SetTorque(Vector3(0.0, 0.0, -0.2));
+
+if (realTime - this-prevTime 5.0 fabs(pose.pos.x) 0.1 )
+{
+ this-prevTime = realTime;
+ this-circleCount++;
+}
+ }
+ else
+this-UpdateJob();
}
+public: void UpdateJob()
+{
+ Logger::Instance()-RemoveLog(pioneer);
+
+ std::string mv_cmd = std::string(mv /tmp/pioneer.log ) + this-path +
+pioneer_circle_ + boost::lexical_caststd::string(this-count) +
+.data;
+
+ fprintf(this-indexFile,%d %s %f %d\n,this-count,
+ (*this-stepTypesIter).c_str(), *this-stepTimesIter,
+ *this-stepItersIter);
+
+ system(mv_cmd.c_str());
+
+ this-stepItersIter++;
+ if (this-stepItersIter == this-stepIters.end())
+ {
+this-stepItersIter = this-stepIters.begin();
+this-stepTimesIter++;
+if (this-stepTimesIter == this-stepTimes.end())
+{
+ this-stepTimesIter = this-stepTimes.begin();
+ this-stepTypesIter++;
+ if (this-stepTypesIter == this-stepTypes.end())
+ {
+Simulator::Instance()-RemoveHandler(this-name);
+return;
+ }
+}
+ }
+
+ this-physics-SetStepType( *this-stepTypesIter );
+ this-physics-SetStepTime( *this-stepTimesIter );
+ this-physics
[Playerstage-commit] SF.net SVN: playerstage:[8748] code/gazebo/branches/simpar/plugins
Revision: 8748
http://playerstage.svn.sourceforge.net/playerstage/?rev=8748view=rev
Author: natepak
Date: 2010-06-02 14:59:12 + (Wed, 02 Jun 2010)
Log Message:
---
Update to the plugins
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-02
07:04:20 UTC (rev 8747)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-02
14:59:12 UTC (rev 8748)
@@ -1,10 +1,10 @@
#include boost/bind.hpp
+
#include gazebo/gazeboserver.hh
namespace gazebo
{
-
class PioneerCircle : public Handler
{
public: PioneerCircle() : Handler() {}
@@ -29,7 +29,6 @@
public: void Load()
{
-
std::string model_name = pioneer;
this-robot = (Model*)World::Instance()-GetEntityByName(model_name);
@@ -48,24 +47,16 @@
public: void UpdateCB()
{
- if (this-leftWheel-GetAngularVel().z 4.2)
- {
+ if (this-leftWheel-GetRelativeAngularVel().z 2.2)
this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.2));
- }
- if (this-rightWheel-GetAngularVel().z 4.0)
+ if (this-rightWheel-GetRelativeAngularVel().z 2.1)
this-rightWheel-SetTorque(Vector3(0.0, 0.0, -0.2));
-
-//this-rightWheel-SetTorque(Vector3(0.0, 0.0, 0.01));
-//this-rightWheel-SetTorque(Vector3(0.0, 0.0, 0));
-//this-leftWheel-SetAngularVel(Vector3(0.0, 0.3, 0));
-//this-rightWheel-SetAngularVel(Vector3(0.0, 0.1, 0));
}
private: Model *robot;
private: Body *leftWheel;
private: Body *rightWheel;
-
};
GZ_REGISTER_HANDLER(PioneerCircle, PioneerCircle)
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-06-02
07:04:20 UTC (rev 8747)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-06-02
14:59:12 UTC (rev 8748)
@@ -1,3 +1,4 @@
+#include stdlib.h
#include boost/bind.hpp
#include pioneer_spiral.hh
@@ -7,10 +8,33 @@
PioneerSpiral::PioneerSpiral() : Handler()
{
+ for (double i=0.001; i 1e-5; i*=0.5)
+this-stepTimes.push_back(i);
+
+ for (unsigned int i=10; i=100; i+=10)
+this-stepIters.push_back(i);
+
+ this-stepTypes.push_back(world);
+ this-stepTypes.push_back(quick);
+ //this-stepTypes.push_back(robust);
+
+ this-stepTypesIter = this-stepTypes.begin();
+ this-stepTimesIter = this-stepTimes.begin();
+ this-stepItersIter = this-stepIters.begin();
+
+ this-path = std::string(/home/nate/work/simpar/data/pioneer_spiral/);
+ system( (std::string(mkdir -p ) + this-path).c_str() );
+
+ this-count = 0;
+
+ this-indexFile = fopen(std::string(this-path + index.txt).c_str(), w);
+ fprintf(this-indexFile, # index step_type step_time step_iterations\n);
}
PioneerSpiral::~PioneerSpiral()
{
+ fclose(this-indexFile);
+
World::Instance()-DisconnectWorldUpdateStartSignal(
boost::bind(PioneerSpiral::UpdateCB, this));
@@ -29,32 +53,32 @@
void PioneerSpiral::Load()
{
-
std::string model_name = pioneer;
this-robot = (Model*)World::Instance()-GetEntityByName(model_name);
+
if (this-robot)
{
+
this-robot-GetVisualNode()-SetRibbonTrail(true);
this-leftWheel = (Body*)this-robot-GetChild(left_wheel);
this-rightWheel = (Body*)this-robot-GetChild(right_wheel);
-Geom *leftWheelGeom = this-leftWheel-GetGeom(left_wheel_geom);
-Geom *rightWheelGeom = this-rightWheel-GetGeom(right_wheel_geom);
+World::Instance()-ConnectWorldUpdateStartSignal(
+boost::bind(PioneerSpiral::UpdateCB, this));
-/*leftWheelGeom-SetContactsEnabled(true);
-rightWheelGeom-SetContactsEnabled(true);
+this-prevTime = Simulator::Instance()-GetRealTime();
-leftWheelGeom-ConnectContactCallback(
-boost::bind(PioneerSpiral::LeftContactCB, this, _1));
-rightWheelGeom-ConnectContactCallback(
-boost::bind(PioneerSpiral::RightContactCB, this, _1));
-*/
+this-physics = World::Instance()-GetPhysicsEngine();
-World::Instance()-ConnectWorldUpdateStartSignal(
-boost::bind(PioneerSpiral::UpdateCB, this));
+Logger::Instance()-AddLog(pioneer);
-this-prevTime = Simulator::Instance()-GetRealTime();
+this-physics-SetStepTime( *this-stepTimesIter );
+this-physics-SetStepType( *this-stepTypesIter );
+this-physics-SetSORPGSIters( *this-stepItersIter );
+std::cout Type[ *this-stepTypesIter ]
+ Time[ *this-stepTimesIter ]
+ Iters[ *this-stepItersIter ]\n;
}
else
std::cerr Unable to find model[ model_name ]\n
[Playerstage-commit] SF.net SVN: playerstage:[8750] code/gazebo/branches/simpar
Revision: 8750
http://playerstage.svn.sourceforge.net/playerstage/?rev=8750view=rev
Author: natepak
Date: 2010-06-03 00:34:23 + (Thu, 03 Jun 2010)
Log Message:
---
Updates
Modified Paths:
--
code/gazebo/branches/simpar/benchmarks/box_drop_benchmark.cc
code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
code/gazebo/branches/simpar/benchmarks/table_benchmark.cc
code/gazebo/branches/simpar/libgazebo/SimIface.cc
code/gazebo/branches/simpar/libgazebo/gz.h
code/gazebo/branches/simpar/plugins/CMakeLists.txt
code/gazebo/branches/simpar/server/GazeboMessage.hh
code/gazebo/branches/simpar/server/Logger.cc
code/gazebo/branches/simpar/server/Logger.hh
code/gazebo/branches/simpar/server/World.cc
code/gazebo/branches/simpar/server/physics/Joint.cc
code/gazebo/branches/simpar/server/physics/SurfaceParams.cc
code/gazebo/branches/simpar/worlds/models/pioneer2dx.model
code/gazebo/branches/simpar/worlds/pioneer2dx.world
code/gazebo/branches/simpar/worlds/simpleshapes.world
Added Paths:
---
code/gazebo/branches/simpar/plugins/pioneer_line.cc
Removed Paths:
-
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
Modified: code/gazebo/branches/simpar/benchmarks/box_drop_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/box_drop_benchmark.cc
2010-06-02 15:00:16 UTC (rev 8749)
+++ code/gazebo/branches/simpar/benchmarks/box_drop_benchmark.cc
2010-06-03 00:34:23 UTC (rev 8750)
@@ -66,7 +66,7 @@
void RunSim()
{
- simIface-StartLogEntity(box);
+ simIface-StartLogEntity(box, /tmp/box.log);
simIface-Unpause();
/*libgazebo::Vec3 linearVel, angularVel, linearAccel, angularAccel;
libgazebo::Pose modelPose;
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-06-02 15:00:16 UTC (rev 8749)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-06-03 00:34:23 UTC (rev 8750)
@@ -173,7 +173,7 @@
void RunSim(double stepTime)
{
- simIface-StartLogEntity(pioneer);
+ simIface-StartLogEntity(pioneer, /tmp/pioneer.log);
simIface-Unpause();
double angle = 10;
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
2010-06-02 15:00:16 UTC (rev 8749)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
2010-06-03 00:34:23 UTC (rev 8750)
@@ -170,7 +170,7 @@
void RunSim()
{
- simIface-StartLogEntity(pioneer);
+ simIface-StartLogEntity(pioneer, /tmp/pioneer.log);
simIface-Unpause();
libgazebo::Pose pose;
Modified: code/gazebo/branches/simpar/benchmarks/table_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/table_benchmark.cc 2010-06-02
15:00:16 UTC (rev 8749)
+++ code/gazebo/branches/simpar/benchmarks/table_benchmark.cc 2010-06-03
00:34:23 UTC (rev 8750)
@@ -190,8 +190,8 @@
usleep(10);
spawn_box(0, 0, prev_z);
usleep(100);
- simIface-StartLogEntity(box);
- simIface-StartLogEntity(table);
+ simIface-StartLogEntity(box,/tmp/box.log);
+ simIface-StartLogEntity(table,/tmp/table.log);
simIface-Unpause();
libgazebo::Vec3 linearVel, angularVel, linearAccel, angularAccel;
Modified: code/gazebo/branches/simpar/libgazebo/SimIface.cc
===
--- code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-06-02 15:00:16 UTC
(rev 8749)
+++ code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-06-03 00:34:23 UTC
(rev 8750)
@@ -898,7 +898,8 @@
/// Start logging entity information
-void SimulationIface::StartLogEntity(const std::string entityName)
+void SimulationIface::StartLogEntity(const std::string entityName,
+ const std::string filename)
{
this-Lock(1);
@@ -912,6 +913,10 @@
strncpy(request-name, entityName.c_str(), 512);
request-name[511] = '\0';
+ memset(request-strValue, 0, 512);
+ strncpy(request-strValue, filename.c_str(), 512);
+ request-strValue[511] = '\0';
+
this-Unlock();
}
Modified: code/gazebo/branches/simpar/libgazebo/gz.h
===
--- code/gazebo/branches/simpar/libgazebo/gz.h 2010-06-02 15:00:16 UTC (rev
8749)
+++ code/gazebo/branches/simpar/libgazebo/gz.h 2010-06-03 00:34:23 UTC (rev
8750)
@@ -670,7
[Playerstage-commit] SF.net SVN: playerstage:[8742] code/gazebo/branches/simpar
Revision: 8742
http://playerstage.svn.sourceforge.net/playerstage/?rev=8742view=rev
Author: natepak
Date: 2010-06-01 06:22:38 + (Tue, 01 Jun 2010)
Log Message:
---
Updates
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/simpar/worlds/models/pioneer2dx.model
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Modified: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-05-31
21:18:10 UTC (rev 8741)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-06-01
06:22:38 UTC (rev 8742)
@@ -14,9 +14,6 @@
World::Instance()-DisconnectWorldUpdateStartSignal(
boost::bind(PioneerCircle::UpdateCB, this));
- World::Instance()-DisconnectWorldUpdateEndSignal(
- boost::bind(PioneerCircle::UpdateEndCB, this));
-
for (unsigned int i=0; i this-robot-GetChildCount(); i++)
{
Body *body = dynamic_castBody*(this-robot-GetChild(i));
@@ -44,9 +41,6 @@
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(PioneerCircle::UpdateCB, this));
-
-World::Instance()-ConnectWorldUpdateEndSignal(
-boost::bind(PioneerCircle::UpdateEndCB, this));
}
else
std::cerr Unable to find model[ model_name ]\n;
@@ -54,13 +48,13 @@
public: void UpdateCB()
{
- if (this-leftWheel-GetAngularVel().y 0.2)
+ if (this-leftWheel-GetAngularVel().z 4.2)
{
-this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.08));
+this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.2));
}
- if (this-rightWheel-GetAngularVel().y 0.1)
-this-rightWheel-SetTorque(Vector3(0.0, 0.0, -0.08));
+ if (this-rightWheel-GetAngularVel().z 4.0)
+this-rightWheel-SetTorque(Vector3(0.0, 0.0, -0.2));
//this-rightWheel-SetTorque(Vector3(0.0, 0.0, 0.01));
//this-rightWheel-SetTorque(Vector3(0.0, 0.0, 0));
@@ -68,12 +62,6 @@
//this-rightWheel-SetAngularVel(Vector3(0.0, 0.1, 0));
}
-public: void UpdateEndCB()
-{
- //std::cout this-leftWheel-GetTorque() \n;
- //std::cout this-rightWheel-GetAngularVel() \n;
-}
-
private: Model *robot;
private: Body *leftWheel;
private: Body *rightWheel;
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-31
21:18:10 UTC (rev 8741)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-06-01
06:22:38 UTC (rev 8742)
@@ -30,7 +30,7 @@
void PioneerSpiral::Load()
{
- std::string model_name = pioneer2dx_model;
+ std::string model_name = pioneer;
this-robot = (Model*)World::Instance()-GetEntityByName(model_name);
if (this-robot)
@@ -42,16 +42,19 @@
Geom *leftWheelGeom = this-leftWheel-GetGeom(left_wheel_geom);
Geom *rightWheelGeom = this-rightWheel-GetGeom(right_wheel_geom);
-leftWheelGeom-SetContactsEnabled(true);
+/*leftWheelGeom-SetContactsEnabled(true);
rightWheelGeom-SetContactsEnabled(true);
leftWheelGeom-ConnectContactCallback(
boost::bind(PioneerSpiral::LeftContactCB, this, _1));
rightWheelGeom-ConnectContactCallback(
boost::bind(PioneerSpiral::RightContactCB, this, _1));
+*/
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(PioneerSpiral::UpdateCB, this));
+
+this-prevTime = Simulator::Instance()-GetRealTime();
}
else
std::cerr Unable to find model[ model_name ]\n;
@@ -59,36 +62,35 @@
void PioneerSpiral::UpdateCB()
{
- //std::cout torqu[ this-leftWheel-GetAngularVel() ]\n;
- if (this-leftWheel-GetAngularVel().GetLength() 0.1)
+ Time currTime = Simulator::Instance()-GetRealTime();
+ if (currTime - prevTime Time(0,2))
{
-printf(HERE\n);
-this-leftWheel-SetTorque(Vector3(0.0,1.0,0));
-this-rightWheel-SetTorque(Vector3(0.0,0.5,0));
+this-leftWheel-SetTorque(Vector3(0.0,0.0,.01));
+this-rightWheel-SetTorque(Vector3(0.0,0.0,.01));
}
+
}
-void PioneerSpiral::LeftContactCB(const Contact contact)
+/*void PioneerSpiral::LeftContactCB(const Contact contact)
{
- /*std::cout Left contact\n;
+ std::cout Left contact\n;
for (unsigned int i=0; i contact.positions.size(); i++)
{
std::coutPos[ contact.positions[i] ]
Norm[ contact.normals[i] ]
Depth[ contact.depths[i] ]\n;
}
- */
}
void PioneerSpiral
[Playerstage-commit] SF.net SVN: playerstage:[8741] code/gazebo/branches/simpar
Revision: 8741
http://playerstage.svn.sourceforge.net/playerstage/?rev=8741view=rev
Author: natepak
Date: 2010-05-31 21:18:10 + (Mon, 31 May 2010)
Log Message:
---
Updates
Modified Paths:
--
code/gazebo/branches/simpar/plugins/CMakeLists.txt
code/gazebo/branches/simpar/server/physics/Body.cc
code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Added Paths:
---
code/gazebo/branches/simpar/plugins/pioneer_circle.cc
Modified: code/gazebo/branches/simpar/plugins/CMakeLists.txt
===
--- code/gazebo/branches/simpar/plugins/CMakeLists.txt 2010-05-30 00:37:46 UTC
(rev 8740)
+++ code/gazebo/branches/simpar/plugins/CMakeLists.txt 2010-05-31 21:18:10 UTC
(rev 8741)
@@ -15,8 +15,10 @@
link_directories(${GAZEBO_LIBRARY_DIRS})
endif (PKG_CONFIG_FOUND)
-set (plugins pioneer_spiral )
+set (plugins pioneer_spiral
+ pioneer_circle)
+
foreach (src ${plugins})
set_source_files_properties(${src}.cc PROPERTIES COMPILE_FLAGS
${GAZEBO_CFLAGS})
add_library(${src} SHARED ${src}.cc)
Added: code/gazebo/branches/simpar/plugins/pioneer_circle.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_circle.cc
(rev 0)
+++ code/gazebo/branches/simpar/plugins/pioneer_circle.cc 2010-05-31
21:18:10 UTC (rev 8741)
@@ -0,0 +1,84 @@
+#include boost/bind.hpp
+#include gazebo/gazeboserver.hh
+
+namespace gazebo
+{
+
+
+ class PioneerCircle : public Handler
+ {
+public: PioneerCircle() : Handler() {}
+
+public: ~PioneerCircle()
+{
+ World::Instance()-DisconnectWorldUpdateStartSignal(
+ boost::bind(PioneerCircle::UpdateCB, this));
+
+ World::Instance()-DisconnectWorldUpdateEndSignal(
+ boost::bind(PioneerCircle::UpdateEndCB, this));
+
+ for (unsigned int i=0; i this-robot-GetChildCount(); i++)
+ {
+Body *body = dynamic_castBody*(this-robot-GetChild(i));
+if (body)
+{
+ body-SetForce(Vector3(0,0,0));
+ body-SetTorque(Vector3(0,0,0));
+ body-SetLinearVel(Vector3(0,0,0));
+ body-SetAngularVel(Vector3(0,0,0));
+}
+ }
+}
+
+public: void Load()
+{
+
+ std::string model_name = pioneer;
+ this-robot = (Model*)World::Instance()-GetEntityByName(model_name);
+
+ if (this-robot)
+ {
+this-robot-GetVisualNode()-SetRibbonTrail(true);
+this-leftWheel = (Body*)this-robot-GetChild(left_wheel);
+this-rightWheel = (Body*)this-robot-GetChild(right_wheel);
+
+World::Instance()-ConnectWorldUpdateStartSignal(
+boost::bind(PioneerCircle::UpdateCB, this));
+
+World::Instance()-ConnectWorldUpdateEndSignal(
+boost::bind(PioneerCircle::UpdateEndCB, this));
+ }
+ else
+std::cerr Unable to find model[ model_name ]\n;
+}
+
+public: void UpdateCB()
+{
+ if (this-leftWheel-GetAngularVel().y 0.2)
+ {
+this-leftWheel-SetTorque(Vector3(0.0, 0.0, 0.08));
+ }
+
+ if (this-rightWheel-GetAngularVel().y 0.1)
+this-rightWheel-SetTorque(Vector3(0.0, 0.0, -0.08));
+
+//this-rightWheel-SetTorque(Vector3(0.0, 0.0, 0.01));
+//this-rightWheel-SetTorque(Vector3(0.0, 0.0, 0));
+//this-leftWheel-SetAngularVel(Vector3(0.0, 0.3, 0));
+//this-rightWheel-SetAngularVel(Vector3(0.0, 0.1, 0));
+}
+
+public: void UpdateEndCB()
+{
+ //std::cout this-leftWheel-GetTorque() \n;
+ //std::cout this-rightWheel-GetAngularVel() \n;
+}
+
+private: Model *robot;
+private: Body *leftWheel;
+private: Body *rightWheel;
+
+ };
+
+ GZ_REGISTER_HANDLER(PioneerCircle, PioneerCircle)
+}
Modified: code/gazebo/branches/simpar/server/physics/Body.cc
===
--- code/gazebo/branches/simpar/server/physics/Body.cc 2010-05-30 00:37:46 UTC
(rev 8740)
+++ code/gazebo/branches/simpar/server/physics/Body.cc 2010-05-31 21:18:10 UTC
(rev 8741)
@@ -409,10 +409,10 @@
Vector3 avel;
// Apply our linear accel
- this-SetForce(this-linearAccel);
+ //this-SetForce(this-linearAccel);
// Apply our angular accel
- this-SetTorque(this-angularAccel);
+ //this-SetTorque(this-angularAccel);
// FIXME: FIXME: @todo: @todo: race condition on factory-based model
loading!
// if (this-GetEnabled() != this-enabled)
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc
===
--- code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc 2010-05-30
00:37:46 UTC (rev 8740)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEBody.cc 2010-05-31
21:18:10 UTC (rev 8741)
@@ -434,7 +434,7
[Playerstage-commit] SF.net SVN: playerstage:[8731] code/gazebo/branches/simpar
Revision: 8731
http://playerstage.svn.sourceforge.net/playerstage/?rev=8731view=rev
Author: natepak
Date: 2010-05-29 17:04:31 + (Sat, 29 May 2010)
Log Message:
---
Added ability to load plugins from the command line
Modified Paths:
--
code/gazebo/branches/simpar/libgazebo/SimIface.cc
code/gazebo/branches/simpar/libgazebo/gz.h
code/gazebo/branches/simpar/server/GazeboConfig.cc
code/gazebo/branches/simpar/server/Simulator.cc
code/gazebo/branches/simpar/server/Simulator.hh
code/gazebo/branches/simpar/server/World.cc
code/gazebo/branches/simpar/tools/gazebomodel.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Added Paths:
---
code/gazebo/branches/simpar/plugins/
code/gazebo/branches/simpar/plugins/CMakeLists.txt
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
Modified: code/gazebo/branches/simpar/libgazebo/SimIface.cc
===
--- code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-29 16:47:21 UTC
(rev 8730)
+++ code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -1001,3 +1001,23 @@
assert(this-data-responseCount == 1);
return data-responses[0].strValue;
}
+
+
+/// Add a handler
+void SimulationIface::AddHandler(const std::string name)
+{
+ this-Lock(1);
+
+ this-data-responseCount = 0;
+ SimulationRequestData *request;
+
+ request = (this-data-requests[this-data-requestCount++]);
+ request-type = SimulationRequestData::ADD_HANDLER;
+ memset(request-strValue, 0, 512);
+ strncpy(request-strValue, name.c_str(), 512);
+ request-strValue[511] = '\0';
+
+ this-Unlock();
+}
+
+
Modified: code/gazebo/branches/simpar/libgazebo/gz.h
===
--- code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-29 16:47:21 UTC (rev
8730)
+++ code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-29 17:04:31 UTC (rev
8731)
@@ -454,7 +454,8 @@
SET_STEP_TYPE,
GET_STEP_TYPE,
APPLY_FORCE,
- APPLY_TORQUE
+ APPLY_TORQUE,
+ ADD_HANDLER
};
public: Type type;
@@ -685,6 +686,9 @@
/// \brief Get the step type
public: std::string GetStepType();
+ /// \brief Add a handler
+ public: void AddHandler(const std::string name);
+
private: void BlockThread();
/// \brief Wait for a return message
Added: code/gazebo/branches/simpar/plugins/CMakeLists.txt
===
--- code/gazebo/branches/simpar/plugins/CMakeLists.txt
(rev 0)
+++ code/gazebo/branches/simpar/plugins/CMakeLists.txt 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -0,0 +1,27 @@
+project(benchmarks)
+
+cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
+
+if(COMMAND cmake_policy)
+ cmake_policy(SET CMP0003 NEW)
+ cmake_policy(SET CMP0004 NEW)
+endif(COMMAND cmake_policy)
+
+include (FindPkgConfig)
+
+if (PKG_CONFIG_FOUND)
+ pkg_check_modules(GAZEBO gazeboserver)
+ include_directories(${GAZEBO_INCLUDE_DIRS})
+ link_directories(${GAZEBO_LIBRARY_DIRS})
+endif (PKG_CONFIG_FOUND)
+
+set (plugins pioneer_spiral )
+
+foreach (src ${plugins})
+ set_source_files_properties(${src}.cc PROPERTIES COMPILE_FLAGS
${GAZEBO_CFLAGS})
+ add_library(${src} SHARED ${src}.cc)
+ target_link_libraries(${src} gazebo ${GAZEBO_LINK_LIBS} )
+ set_target_properties(${src} PROPERTIES SKIP_BUILD_RPATH TRUE)
+ set_target_properties(${src} PROPERTIES LINK_FLAGS ${GAZEBO_LDFLAGS})
+ install (TARGETS ${src} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/plugins/)
+endforeach (src ${benchmarks})
Added: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
(rev 0)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
17:04:31 UTC (rev 8731)
@@ -0,0 +1,38 @@
+#include boost/bind.hpp
+#include pioneer_spiral.hh
+
+using namespace gazebo;
+
+GZ_REGISTER_HANDLER(PioneerSpiral, PioneerSpiral)
+
+PioneerSpiral::PioneerSpiral() : Handler()
+{
+}
+
+PioneerSpiral::~PioneerSpiral()
+{
+}
+
+void PioneerSpiral::Load()
+{
+
+ std::string model_name = pioneer2dx_model;
+ this-robot = (Model*)World::Instance()-GetEntityByName(model_name);
+
+ if (this-robot)
+ {
+this-robot-GetVisualNode()-SetRibbonTrail(true);
+this-leftWheel = (Body*)this-robot-GetChild(left_wheel);
+this-rightWheel = (Body*)this-robot-GetChild(right_wheel);
+
+World::Instance()-ConnectWorldUpdateStartSignal(
+boost::bind(PioneerSpiral::UpdateCB, this));
+ }
+ else
+std::cerr
[Playerstage-commit] SF.net SVN: playerstage:[8732] code/gazebo/branches/simpar
Revision: 8732
http://playerstage.svn.sourceforge.net/playerstage/?rev=8732view=rev
Author: natepak
Date: 2010-05-29 17:19:24 + (Sat, 29 May 2010)
Log Message:
---
Added remove handler function
Modified Paths:
--
code/gazebo/branches/simpar/libgazebo/SimIface.cc
code/gazebo/branches/simpar/libgazebo/gz.h
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/server/Handler.cc
code/gazebo/branches/simpar/server/Handler.hh
code/gazebo/branches/simpar/server/Simulator.cc
code/gazebo/branches/simpar/server/Simulator.hh
code/gazebo/branches/simpar/server/World.cc
code/gazebo/branches/simpar/tools/gazebomodel.cc
Modified: code/gazebo/branches/simpar/libgazebo/SimIface.cc
===
--- code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-29 17:04:31 UTC
(rev 8731)
+++ code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-29 17:19:24 UTC
(rev 8732)
@@ -1020,4 +1020,20 @@
this-Unlock();
}
+
+/// Remove a handler
+void SimulationIface::RemoveHandler(const std::string name)
+{
+ this-Lock(1);
+ this-data-responseCount = 0;
+ SimulationRequestData *request;
+
+ request = (this-data-requests[this-data-requestCount++]);
+ request-type = SimulationRequestData::REMOVE_HANDLER;
+ memset(request-strValue, 0, 512);
+ strncpy(request-strValue, name.c_str(), 512);
+ request-strValue[511] = '\0';
+
+ this-Unlock();
+}
Modified: code/gazebo/branches/simpar/libgazebo/gz.h
===
--- code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-29 17:04:31 UTC (rev
8731)
+++ code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-29 17:19:24 UTC (rev
8732)
@@ -455,7 +455,8 @@
GET_STEP_TYPE,
APPLY_FORCE,
APPLY_TORQUE,
- ADD_HANDLER
+ ADD_HANDLER,
+ REMOVE_HANDLER
};
public: Type type;
@@ -689,6 +690,9 @@
/// \brief Add a handler
public: void AddHandler(const std::string name);
+ /// \brief Remove a handler
+ public: void RemoveHandler(const std::string name);
+
private: void BlockThread();
/// \brief Wait for a return message
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
17:04:31 UTC (rev 8731)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
17:19:24 UTC (rev 8732)
@@ -11,6 +11,8 @@
PioneerSpiral::~PioneerSpiral()
{
+ World::Instance()-DisconnectWorldUpdateStartSignal(
+ boost::bind(PioneerSpiral::UpdateCB, this));
}
void PioneerSpiral::Load()
Modified: code/gazebo/branches/simpar/server/Handler.cc
===
--- code/gazebo/branches/simpar/server/Handler.cc 2010-05-29 17:04:31 UTC
(rev 8731)
+++ code/gazebo/branches/simpar/server/Handler.cc 2010-05-29 17:19:24 UTC
(rev 8732)
@@ -22,8 +22,17 @@
Handler::Handler() {}
Handler::~Handler() {}
+
+/// Get the name of the handler
+std::string Handler::GetName() const
+{
+ return this-name;
+}
+
+
Handler *Handler::Create(const std::string plugin)
{
+ Handler *result = NULL;
struct stat st;
bool found = false;
std::string fullname;
@@ -55,7 +64,7 @@
}
// Register the new controller.
- return registerFunc();
+ result = registerFunc();
#elif HAVE_LTDL
@@ -93,7 +102,7 @@
}
// Register the new controller.
- return registerFunc();
+ result = registerFunc();
#else // HAVE_LTDL
@@ -101,5 +110,7 @@
#endif // HAVE_LTDL
+ result-name = plugin;
+ return result;
}
Modified: code/gazebo/branches/simpar/server/Handler.hh
===
--- code/gazebo/branches/simpar/server/Handler.hh 2010-05-29 17:04:31 UTC
(rev 8731)
+++ code/gazebo/branches/simpar/server/Handler.hh 2010-05-29 17:19:24 UTC
(rev 8732)
@@ -13,7 +13,12 @@
public: virtual ~Handler();
public: virtual void Load() = 0;
+/// \brief Get the name of the handler
+public: std::string GetName() const;
+
public: static Handler *Create(const std::string name);
+
+protected: std::string name;
};
}
Modified: code/gazebo/branches/simpar/server/Simulator.cc
===
--- code/gazebo/branches/simpar/server/Simulator.cc 2010-05-29 17:04:31 UTC
(rev 8731)
+++ code/gazebo/branches/simpar/server/Simulator.cc 2010-05-29 17:19:24 UTC
(rev 8732)
@@ -309,15 +309,6
[Playerstage-commit] SF.net SVN: playerstage:[8733] code/gazebo/branches/simpar/server/Simulator .cc
Revision: 8733
http://playerstage.svn.sourceforge.net/playerstage/?rev=8733view=rev
Author: natepak
Date: 2010-05-29 17:28:37 + (Sat, 29 May 2010)
Log Message:
---
Fixed handler removal
Modified Paths:
--
code/gazebo/branches/simpar/server/Simulator.cc
Modified: code/gazebo/branches/simpar/server/Simulator.cc
===
--- code/gazebo/branches/simpar/server/Simulator.cc 2010-05-29 17:19:24 UTC
(rev 8732)
+++ code/gazebo/branches/simpar/server/Simulator.cc 2010-05-29 17:28:37 UTC
(rev 8733)
@@ -782,6 +782,7 @@
{
delete (*iter);
this-handlers.erase(iter);
+ break;
}
}
}
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[Playerstage-commit] SF.net SVN: playerstage:[8736] code/gazebo/branches/simpar/worlds
Revision: 8736 http://playerstage.svn.sourceforge.net/playerstage/?rev=8736view=rev Author: natepak Date: 2010-05-29 20:08:58 + (Sat, 29 May 2010) Log Message: --- removed the laser and fixed the wheel size of the pioneer model Modified Paths: -- code/gazebo/branches/simpar/worlds/models/pioneer2dx.model code/gazebo/branches/simpar/worlds/pioneer2dx.world Modified: code/gazebo/branches/simpar/worlds/models/pioneer2dx.model === --- code/gazebo/branches/simpar/worlds/models/pioneer2dx.model 2010-05-29 18:21:16 UTC (rev 8735) +++ code/gazebo/branches/simpar/worlds/models/pioneer2dx.model 2010-05-29 20:08:58 UTC (rev 8736) @@ -71,14 +71,14 @@ visual rpy-90 0 0/rpy - size0.125 0.05 0.125/size + size0.15 0.05 0.15/size meshPioneer2dx/tire.mesh/mesh materialGazebo/Black/material /visual visual rpy-90 0 0/rpy - size0.073 0.05 0.073/size + size0.088 0.05 0.088/size meshPioneer2at/wheel.mesh/mesh materialGazebo/Gold/material /visual @@ -106,14 +106,14 @@ visual rpy-90 0 0/rpy - size0.125 0.05 0.125/size + size0.15 0.05 0.15/size meshPioneer2dx/tire.mesh/mesh materialGazebo/Black/material /visual visual rpy-90 0 0/rpy - size0.073 0.05 0.073/size + size0.088 0.05 0.088/size meshPioneer2at/wheel.mesh/mesh materialGazebo/Gold/material /visual Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world === --- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 18:21:16 UTC (rev 8735) +++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 20:08:58 UTC (rev 8736) @@ -94,6 +94,7 @@ xyz0 0 0.15/xyz rpy0.0 0.0 90.0/rpy +!-- model:physical name=laser xyz0.15 0 0.18/xyz @@ -106,6 +107,7 @@ xi:include href=models/sicklms200.model / /include /model:physical +-- include embedded=true xi:include href=models/pioneer2dx.model / This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8737] code/gazebo/branches/simpar
Revision: 8737
http://playerstage.svn.sourceforge.net/playerstage/?rev=8737view=rev
Author: natepak
Date: 2010-05-29 20:50:41 + (Sat, 29 May 2010)
Log Message:
---
Added better contact callback
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
code/gazebo/branches/simpar/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
code/gazebo/branches/simpar/server/physics/Geom.cc
code/gazebo/branches/simpar/server/physics/Geom.hh
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
20:08:58 UTC (rev 8736)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
20:50:41 UTC (rev 8737)
@@ -39,6 +39,17 @@
this-leftWheel = (Body*)this-robot-GetChild(left_wheel);
this-rightWheel = (Body*)this-robot-GetChild(right_wheel);
+Geom *leftWheelGeom = this-leftWheel-GetGeom(left_wheel_geom);
+Geom *rightWheelGeom = this-rightWheel-GetGeom(right_wheel_geom);
+
+leftWheelGeom-SetContactsEnabled(true);
+rightWheelGeom-SetContactsEnabled(true);
+
+leftWheelGeom-ConnectContactCallback(
+boost::bind(PioneerSpiral::LeftContactCB, this, _1));
+rightWheelGeom-ConnectContactCallback(
+boost::bind(PioneerSpiral::RightContactCB, this, _1));
+
World::Instance()-ConnectWorldUpdateStartSignal(
boost::bind(PioneerSpiral::UpdateCB, this));
}
@@ -50,3 +61,25 @@
{
this-leftWheel-SetTorque(Vector3(0,0,0.5));
}
+
+void PioneerSpiral::LeftContactCB(const Contact contact)
+{
+ std::cout Left contact\n;
+ for (unsigned int i=0; i contact.positions.size(); i++)
+ {
+std::coutPos[ contact.positions[i] ]
+ Norm[ contact.normals[i] ]
+ Depth[ contact.depths[i] ]\n;
+ }
+}
+
+void PioneerSpiral::RightContactCB(const Contact contact)
+{
+ std::cout Right contact\n;
+ for (unsigned int i=0; i contact.positions.size(); i++)
+ {
+std::coutPos[ contact.positions[i] ]
+ Norm[ contact.normals[i] ]
+ Depth[ contact.depths[i] ]\n;
+ }
+}
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
===
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.hh 2010-05-29
20:08:58 UTC (rev 8736)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.hh 2010-05-29
20:50:41 UTC (rev 8737)
@@ -16,6 +16,9 @@
public: void UpdateCB();
+public: void LeftContactCB(const Contact contact);
+public: void RightContactCB(const Contact contact);
+
private: Model *robot;
private: Body *leftWheel;
private: Body *rightWheel;
Modified:
code/gazebo/branches/simpar/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
===
---
code/gazebo/branches/simpar/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2010-05-29 20:08:58 UTC (rev 8736)
+++
code/gazebo/branches/simpar/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2010-05-29 20:50:41 UTC (rev 8737)
@@ -62,6 +62,9 @@
// Destructor
Pioneer2_Gripper::~Pioneer2_Gripper()
{
+
this-paddles[LEFT]-DisconnectContactCallback(boost::bind(Pioneer2_Gripper::LeftPaddleCB,
this));
+
this-paddles[RIGHT]-DisconnectContactCallback(boost::bind(Pioneer2_Gripper::RightPaddleCB,
this));
+
if (this-holdJoint)
delete this-holdJoint;
this-holdJoint = NULL;
@@ -191,8 +194,10 @@
this-holdJoint =
World::Instance()-GetPhysicsEngine()-CreateJoint(Joint::SLIDER);
this-holdJoint-SetName(this-GetName() + _Hold_Joint);
- this-paddles[LEFT]-ContactCallback(Pioneer2_Gripper::LeftPaddleCB, this);
- this-paddles[RIGHT]-ContactCallback(Pioneer2_Gripper::RightPaddleCB,
this);
+ this-paddles[LEFT]-ConnectContactCallback(
+ boost::bind(Pioneer2_Gripper::LeftPaddleCB, this, _1));
+ this-paddles[RIGHT]-ConnectContactCallback(
+ boost::bind(Pioneer2_Gripper::RightPaddleCB, this, _1));
}
Modified: code/gazebo/branches/simpar/server/physics/Geom.cc
===
--- code/gazebo/branches/simpar/server/physics/Geom.cc 2010-05-29 20:08:58 UTC
(rev 8736)
+++ code/gazebo/branches/simpar/server/physics/Geom.cc 2010-05-29 20:50:41 UTC
(rev 8737)
@@ -489,6 +489,7 @@
if (this-GetShapeType() == Shape::RAY || this-GetShapeType() ==
Shape::PLANE)
return;
+ std::cout Contact\n;
this-contacts.push_back( contact.Clone() );
this-contactSignal( contact );
}
Modified: code/gazebo/branches/simpar/server/physics/Geom.hh
[Playerstage-commit] SF.net SVN: playerstage:[8739] code/gazebo/branches/simpar/worlds
Revision: 8739 http://playerstage.svn.sourceforge.net/playerstage/?rev=8739view=rev Author: natepak Date: 2010-05-29 23:25:31 + (Sat, 29 May 2010) Log Message: --- Update the pioneer model Modified Paths: -- code/gazebo/branches/simpar/worlds/empty.world code/gazebo/branches/simpar/worlds/models/pioneer2dx.model code/gazebo/branches/simpar/worlds/pioneer2dx.world Modified: code/gazebo/branches/simpar/worlds/empty.world === --- code/gazebo/branches/simpar/worlds/empty.world 2010-05-29 21:06:13 UTC (rev 8738) +++ code/gazebo/branches/simpar/worlds/empty.world 2010-05-29 23:25:31 UTC (rev 8739) @@ -20,7 +20,7 @@ cfm0.01/cfm erp0.2/erp -stepTypeworld/stepType +stepTyperobust/stepType stepIters100/stepIters stepW1.3/stepW contactMaxCorrectingVel100.0/contactMaxCorrectingVel Modified: code/gazebo/branches/simpar/worlds/models/pioneer2dx.model === --- code/gazebo/branches/simpar/worlds/models/pioneer2dx.model 2010-05-29 21:06:13 UTC (rev 8738) +++ code/gazebo/branches/simpar/worlds/models/pioneer2dx.model 2010-05-29 23:25:31 UTC (rev 8739) @@ -130,7 +130,7 @@ /body:cylinder body:sphere name=castor_body - xyz-0.200 0 -0.11/xyz + xyz-0.200 0 -0.108/xyz rpy0 0 0/rpy geom:sphere name=castor_geom size0.04/size Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world === --- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 21:06:13 UTC (rev 8738) +++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 23:25:31 UTC (rev 8739) @@ -24,11 +24,11 @@ cfm0.01/cfm erp0.2/erp -stepTypequick/stepType +stepTyperobust/stepType stepIters100/stepIters stepW1.3/stepW contactMaxCorrectingVel100.0/contactMaxCorrectingVel -contactSurfaceLayer0.001/contactSurfaceLayer +contactSurfaceLayer0.00/contactSurfaceLayer /physics:ode rendering:gui @@ -91,7 +91,7 @@ -- model:physical name=pioneer2dx_model -xyz0 0 0.15/xyz +xyz0 0 0.147/xyz rpy0.0 0.0 90.0/rpy !-- This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. -- ___ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit
[Playerstage-commit] SF.net SVN: playerstage:[8740] code/gazebo/branches/simpar
Revision: 8740
http://playerstage.svn.sourceforge.net/playerstage/?rev=8740view=rev
Author: natepak
Date: 2010-05-30 00:37:46 + (Sun, 30 May 2010)
Log Message:
---
Update the pioneer_spiral plugin
Modified Paths:
--
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/server/physics/Geom.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
23:25:31 UTC (rev 8739)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-30
00:37:46 UTC (rev 8740)
@@ -59,27 +59,36 @@
void PioneerSpiral::UpdateCB()
{
- this-leftWheel-SetTorque(Vector3(0,0,0.5));
+ //std::cout torqu[ this-leftWheel-GetAngularVel() ]\n;
+
+ if (this-leftWheel-GetAngularVel().GetLength() 0.1)
+ {
+printf(HERE\n);
+this-leftWheel-SetTorque(Vector3(0.0,1.0,0));
+this-rightWheel-SetTorque(Vector3(0.0,0.5,0));
+ }
}
void PioneerSpiral::LeftContactCB(const Contact contact)
{
- std::cout Left contact\n;
+ /*std::cout Left contact\n;
for (unsigned int i=0; i contact.positions.size(); i++)
{
std::coutPos[ contact.positions[i] ]
Norm[ contact.normals[i] ]
Depth[ contact.depths[i] ]\n;
}
+ */
}
void PioneerSpiral::RightContactCB(const Contact contact)
{
- std::cout Right contact\n;
+ /*std::cout Right contact\n;
for (unsigned int i=0; i contact.positions.size(); i++)
{
std::coutPos[ contact.positions[i] ]
Norm[ contact.normals[i] ]
Depth[ contact.depths[i] ]\n;
}
+ */
}
Modified: code/gazebo/branches/simpar/server/physics/Geom.cc
===
--- code/gazebo/branches/simpar/server/physics/Geom.cc 2010-05-29 23:25:31 UTC
(rev 8739)
+++ code/gazebo/branches/simpar/server/physics/Geom.cc 2010-05-30 00:37:46 UTC
(rev 8740)
@@ -489,7 +489,6 @@
if (this-GetShapeType() == Shape::RAY || this-GetShapeType() ==
Shape::PLANE)
return;
- std::cout Contact\n;
this-contacts.push_back( contact.Clone() );
this-contactSignal( contact );
}
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 23:25:31 UTC
(rev 8739)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-30 00:37:46 UTC
(rev 8740)
@@ -24,7 +24,7 @@
cfm0.01/cfm
erp0.2/erp
-stepTyperobust/stepType
+stepTypequick/stepType
stepIters100/stepIters
stepW1.3/stepW
contactMaxCorrectingVel100.0/contactMaxCorrectingVel
@@ -92,7 +92,7 @@
model:physical name=pioneer2dx_model
xyz0 0 0.147/xyz
-rpy0.0 0.0 90.0/rpy
+rpy0.0 0.0 0.0/rpy
!--
model:physical name=laser
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[Playerstage-commit] SF.net SVN: playerstage:[8720] code/gazebo/branches/simpar
Revision: 8720
http://playerstage.svn.sourceforge.net/playerstage/?rev=8720view=rev
Author: natepak
Date: 2010-05-28 06:00:36 + (Fri, 28 May 2010)
Log Message:
---
Updates
Modified Paths:
--
code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/simpar/worlds/empty.world
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 02:44:32 UTC (rev 8719)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 06:00:36 UTC (rev 8720)
@@ -252,11 +252,11 @@
std::vectorstd::string step_types;
std::vectorstd::string ::iterator iter;
- //step_types.push_back(robust);
- step_types.push_back(world);
- step_types.push_back(quick);
+ step_types.push_back(robust);
+ //step_types.push_back(world);
+ //step_types.push_back(quick);
- for (iter = step_types.begin(); iter != step_types.end(); iter++)
+ /*for (iter = step_types.begin(); iter != step_types.end(); iter++)
{
std::string path =
std::string(/home/nate/work/simpar/data/pioneer_circle/) + *iter + /;
system((std::string(mkdir -p )+path).c_str());
@@ -289,13 +289,15 @@
fclose(out);
}
+ */
// This will make a spiral
- /*for (int i=0; i 50; i++)
+ //for (int i=0; i 50; i++)
+ while(1)
{
simIface-ApplyTorque(pioneer::left_wheel,gazebo::Vec3(0,0,-50));
usleep(10);
- }*/
+ }
factoryIface-Close();
simIface-Close();
Modified: code/gazebo/branches/simpar/worlds/empty.world
===
--- code/gazebo/branches/simpar/worlds/empty.world 2010-05-28 02:44:32 UTC
(rev 8719)
+++ code/gazebo/branches/simpar/worlds/empty.world 2010-05-28 06:00:36 UTC
(rev 8720)
@@ -15,13 +15,13 @@
verbosity4/verbosity
physics:ode
-stepTime0.001/stepTime
+stepTime0.01/stepTime
gravity0 0 -9.8/gravity
cfm0.01/cfm
erp0.2/erp
-stepTypequick/stepType
-stepIters10/stepIters
+stepTyperobust/stepType
+stepIters100/stepIters
stepW1.3/stepW
contactMaxCorrectingVel100.0/contactMaxCorrectingVel
contactSurfaceLayer0.001/contactSurfaceLayer
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[Playerstage-commit] SF.net SVN: playerstage:[8721] code/gazebo/branches/simpar
Revision: 8721
http://playerstage.svn.sourceforge.net/playerstage/?rev=8721view=rev
Author: natepak
Date: 2010-05-28 16:20:21 + (Fri, 28 May 2010)
Log Message:
---
Updated to fix a build issue
Modified Paths:
--
code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/simpar/cmake/FindOde.cmake
code/gazebo/branches/simpar/worlds/empty.world
Added Paths:
---
code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 06:00:36 UTC (rev 8720)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 16:20:21 UTC (rev 8721)
@@ -173,15 +173,13 @@
simIface-StartLogEntity(pioneer);
simIface-Unpause();
- double left = 0.1/stepTime;
- if (left 5)
-left = 5.0;
- double right = left * 0.5;
+ double left = 1.0;
+ double right = left*1.8;
std::cout Left[ left ] Right[ right ]\n;
- double time = simIface-data-realTime;
- while(simIface-data-realTime - time 60)
+ double time = simIface-data-simTime;
+ while(simIface-data-simTime - time 60)
{
simIface-SetAngularVel(pioneer::left_wheel, gazebo::Vec3(0,0,left));
simIface-SetAngularVel(pioneer::right_wheel, gazebo::Vec3(0,0, right));
@@ -252,11 +250,11 @@
std::vectorstd::string step_types;
std::vectorstd::string ::iterator iter;
- step_types.push_back(robust);
+ //step_types.push_back(robust);
//step_types.push_back(world);
- //step_types.push_back(quick);
+ step_types.push_back(quick);
- /*for (iter = step_types.begin(); iter != step_types.end(); iter++)
+ for (iter = step_types.begin(); iter != step_types.end(); iter++)
{
std::string path =
std::string(/home/nate/work/simpar/data/pioneer_circle/) + *iter + /;
system((std::string(mkdir -p )+path).c_str());
@@ -268,7 +266,7 @@
int i = 0;
simIface-SetStepType(*iter);
-for (double step=0.01; step 1e-5; step *= 0.5)
+for (double step=0.0001; step 1e-5; step *= 0.5)
{
unsigned int iterations = 10;
if (*iter == world)
@@ -279,7 +277,8 @@
simIface-SetStepIterations(iterations);
fprintf(out,%d %f %d\n,i,step, iterations);
-std::cout Type[ *iter ] Step[ step ] Iterations[
iterations ]\n;
+std::cout Type[ *iter ] Step[ step
+ ] Iterations[ iterations ]\n;
RunSim(step);
std::string mv_cmd = std::string(mv /tmp/pioneer.log ) + path +
pioneer_circle_benchmark_ + *iter + _ + boost::lexical_caststd::string(i)
+ .data;
@@ -289,16 +288,7 @@
fclose(out);
}
- */
- // This will make a spiral
- //for (int i=0; i 50; i++)
- while(1)
- {
-simIface-ApplyTorque(pioneer::left_wheel,gazebo::Vec3(0,0,-50));
-usleep(10);
- }
-
factoryIface-Close();
simIface-Close();
graphicsIface-Close();
Added: code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
(rev 0)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
2010-05-28 16:20:21 UTC (rev 8721)
@@ -0,0 +1,295 @@
+#include iostream
+#include stdio.h
+#include stdlib.h
+#include vector
+#include libgazebo/gz.h
+#include boost/lexical_cast.hpp
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+gazebo::Graphics3dIface *graphicsIface = NULL;
+
+std::string test_name=Pioneer Spiral Benchmark;
+std::string data_filename = /tmp/pioneer_spiral_benchmark.data;
+
+void spawn_robot()
+{
+ std::ostringstream model;
+
+ model model:physical name='pioneer';
+ modelxyz0 0 0.15/xyz;
+ modelrpy0.0 0.0 0.0/rpy;
+ model canonicalBodychassis_body/canonicalBody;
+ model body:box name='chassis_body';
+ model xyz0.0 0.0 0.0/xyz;
+ model rpy0.0 0.0 0.0/rpy;
+ model geom:box name='chassis_geom';
+ model xyz0 0 0.0/xyz;
+ model size0.445 0.277 0.17/size;
+ model mass2.0/mass;
+ model mu11/mu1;
+ model visual;
+ model size0.5 0.277 0.17/size;
+ model xyz0 0 0.04/xyz;
+ model rpy0 180 0/rpy;
+ model meshPioneer2dx/chassis.mesh/mesh;
+ model materialGazebo/Pioneer2Body/material;
+ model /visual;
+ model visual;
+ model xyz0.015 0 0.09/xyz;
+ model rpy0 0 0/rpy;
+ model meshPioneer2at/chassis_top.mesh/mesh;
+ model materialGazebo/Black/material;
+ model /visual;
+ model visual;
+ model xyz0.21 0.0 0.068/xyz;
+ model rpy0 0 0/rpy;
+ model size0.12 0.29 0.034/size
[Playerstage-commit] SF.net SVN: playerstage:[8722] code/gazebo/trunk/cmake
Revision: 8722
http://playerstage.svn.sourceforge.net/playerstage/?rev=8722view=rev
Author: natepak
Date: 2010-05-28 16:25:10 + (Fri, 28 May 2010)
Log Message:
---
Simplified finding ODE
Modified Paths:
--
code/gazebo/trunk/cmake/SearchForStuff.cmake
Removed Paths:
-
code/gazebo/trunk/cmake/FindOde.cmake
Deleted: code/gazebo/trunk/cmake/FindOde.cmake
===
--- code/gazebo/trunk/cmake/FindOde.cmake 2010-05-28 16:20:21 UTC (rev
8721)
+++ code/gazebo/trunk/cmake/FindOde.cmake 2010-05-28 16:25:10 UTC (rev
8722)
@@ -1,65 +0,0 @@
-INCLUDE (FindPkgConfig)
-
-SET(REQUIRED_ODE_VERSION ${ODE_VERSION})
-
-
-# Find packages
-IF (PKG_CONFIG_FOUND)
- pkg_check_modules(ODE ode=${ODE_VERSION})
-ENDIF (PKG_CONFIG_FOUND)
-
-# if we didnt find it in pkg-config try ode-config
-IF (NOT ODE_FOUND)
- SET(ODE_CONFIG_PATH ode-config)
- EXEC_PROGRAM(${ODE_CONFIG_PATH} ARGS --version RETURN_VALUE
ODE_CONFIG_RETURN OUTPUT_VARIABLE DETECTED_ODE_VERSION )
- STRING(REGEX REPLACE [\r\n] ${DETECTED_ODE_VERSION}
${${DETECTED_ODE_VERSION}})
-
- # ode-config exists then get the details
- IF(NOT ODE_CONFIG_RETURN)
-IF(NOT ${REQUIRED_ODE_VERSION} VERSION_LESS ${DETECTED_ODE_VERSION} )
- MESSAGE(STATUS ode-config reports version ${DETECTED_ODE_VERSION})
- EXEC_PROGRAM(${ODE_CONFIG_PATH} ARGS --cflags RETURN_VALUE
ODE_CONFIG_RETURN OUTPUT_VARIABLE ODE_INCLUDE_DIRS )
- STRING(REGEX REPLACE [\r\n] ${ODE_INCLUDE_DIRS}
${${ODE_INCLUDE_DIRS}})
-
- # we want to extract -DdSINGLE or -DdDOUBLE to compile with the correct
flag
- STRING(REGEX REPLACE .*-Dd([^ ]+).* -Dd\\1 ODE_CFLAGS_OTHER
${ODE_INCLUDE_DIRS})
- MESSAGE(STATUS ${ODE_CFLAGS_OTHER} used to compile against the ODE
library)
-
- EXEC_PROGRAM(${ODE_CONFIG_PATH} ARGS --libs RETURN_VALUE
ODE_CONFIG_RETURN OUTPUT_VARIABLE ODE_LDFLAGS )
- STRING(REGEX REPLACE [\r\n] ${ODE_LDFLAGS} ${${ODE_LDFLAGS}})
-
- SET(ODE_FOUND ${DETECTED_ODE_VERSION})
-ELSE(NOT ${REQUIRED_ODE_VERSION} VERSION_LESS ${DETECTED_ODE_VERSION} )
- MESSAGE(STATUS ode-config reports wrong version
(${DETECTED_ODE_VERSION} ${REQUIRED_ODE_VERSION}))
-ENDIF(NOT ${REQUIRED_ODE_VERSION} VERSION_LESS ${DETECTED_ODE_VERSION} )
- ELSE(NOT ODE_CONFIG_RETURN)
- MESSAGE(STATUS no ode-config found)
- ENDIF(NOT ODE_CONFIG_RETURN)
-ENDIF (NOT ODE_FOUND)
-
-IF (NOT ODE_FOUND)
- BUILD_ERROR (ODE and development files not found. See the following
website: http://www.ode.org;)
- SET (INCLUDE_ODE FALSE CACHE BOOL Include support for ODE)
-ELSE (NOT ODE_FOUND)
- SET (INCLUDE_ODE TRUE CACHE BOOL Include support for ODE)
-
- APPEND_TO_CACHED_LIST(gazeboserver_cflags
-${gazeboserver_cflags_desc}
-${ODE_CFLAGS_OTHER})
-
- APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
-${gazeboserver_include_dirs_desc}
-${ODE_INCLUDE_DIRS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_dirs
-${gazeboserver_link_dirs_desc}
-${ODE_LIBRARY_DIRS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
-${gazeboserver_link_libs_desc}
-${ODE_LINK_LIBS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
-${gazeboserver_link_libs_desc}
-${ODE_LIBRARIES})
- APPEND_TO_CACHED_LIST(gazeboserver_ldflags
-${gazeboserver_ldflags_desc}
-${ODE_LDFLAGS})
-ENDIF (NOT ODE_FOUND)
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===
--- code/gazebo/trunk/cmake/SearchForStuff.cmake2010-05-28 16:20:21 UTC
(rev 8721)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake2010-05-28 16:25:10 UTC
(rev 8722)
@@ -28,7 +28,6 @@
include (${gazebo_cmake_dir}/FindOS.cmake)
include (FindPkgConfig)
-include (${gazebo_cmake_dir}/FindOde.cmake)
include (${gazebo_cmake_dir}/FindFreeimage.cmake)
@@ -125,6 +124,32 @@
ENDIF (NOT XML_FOUND)
+ # Find ODE
+ pkg_check_modules(ODE ode=${ODE_VERSION})
+ IF (NOT ODE_FOUND)
+BUILD_ERROR (ODE and development files not found. See the following
website: http://www.ode.org;)
+SET (INCLUDE_ODE FALSE CACHE BOOL Include support for ODE)
+ ELSE (NOT ODE_FOUND)
+SET (INCLUDE_ODE TRUE CACHE BOOL Include support for ODE)
+
+APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
+ ${gazeboserver_include_dirs_desc}
+ ${ODE_INCLUDE_DIRS})
+APPEND_TO_CACHED_LIST(gazeboserver_link_dirs
+ ${gazeboserver_link_dirs_desc}
+ ${ODE_LIBRARY_DIRS
[Playerstage-commit] SF.net SVN: playerstage:[8723] code/gazebo/trunk/server/physics/ode
Revision: 8723
http://playerstage.svn.sourceforge.net/playerstage/?rev=8723view=rev
Author: natepak
Date: 2010-05-28 16:29:15 + (Fri, 28 May 2010)
Log Message:
---
Fixed compilation of ODE with double precision
Modified Paths:
--
code/gazebo/trunk/server/physics/ode/CMakeLists.txt
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
Modified: code/gazebo/trunk/server/physics/ode/CMakeLists.txt
===
--- code/gazebo/trunk/server/physics/ode/CMakeLists.txt 2010-05-28 16:25:10 UTC
(rev 8722)
+++ code/gazebo/trunk/server/physics/ode/CMakeLists.txt 2010-05-28 16:29:15 UTC
(rev 8723)
@@ -39,6 +39,8 @@
${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE}})
endif (CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE})
-set_target_properties(gazebo_physics_ode PROPERTIES COMPILE_FLAGS -fPIC)
+LIST_TO_STRING(MY_ODE_CFLAGS ${ODE_CFLAGS})
+
+set_target_properties(gazebo_physics_ode PROPERTIES COMPILE_FLAGS -fPIC
${MY_ODE_CFLAGS})
target_link_libraries( gazebo_physics_ode ${ODE_LIBRARIES})
install ( TARGETS gazebo_physics_ode DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2010-05-28 16:25:10 UTC
(rev 8722)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2010-05-28 16:29:15 UTC
(rev 8723)
@@ -27,9 +27,6 @@
#ifndef ODEPHYSICS_HH
#define ODEPHYSICS_HH
-// Use single precision in ODE
-#define dSINGLE 1
-
#include ode/ode.h
#include Param.hh
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[Playerstage-commit] SF.net SVN: playerstage:[8724] code/gazebo/trunk/benchmarks/ spinningbox_benchmark.cc
Revision: 8724
http://playerstage.svn.sourceforge.net/playerstage/?rev=8724view=rev
Author: natepak
Date: 2010-05-28 16:30:17 + (Fri, 28 May 2010)
Log Message:
---
Update to spinning box benchmark
Modified Paths:
--
code/gazebo/trunk/benchmarks/spinningbox_benchmark.cc
Modified: code/gazebo/trunk/benchmarks/spinningbox_benchmark.cc
===
--- code/gazebo/trunk/benchmarks/spinningbox_benchmark.cc 2010-05-28
16:29:15 UTC (rev 8723)
+++ code/gazebo/trunk/benchmarks/spinningbox_benchmark.cc 2010-05-28
16:30:17 UTC (rev 8724)
@@ -6,6 +6,7 @@
gazebo::Client *client = NULL;
gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
std::string test_name=Spinning Box Benchmark;
std::string xlabel = Spinning Box Count;
@@ -29,10 +30,39 @@
std::cerr Error\n;
}
+void spawn_box()
+{
+ std::ostringstream model;
+
+ model model:physical name='box';
+ modelstaticfalse/static;
+ modelxyz0 0 0.5/xyz;
+ modelrpy00 00 0/rpy;
+ modelbody:box name='body';
+ model geom:box name='geom';
+ modelsize1 1 1/size;
+ modelmass1/mass;
+ modelmu1.1/mu1;
+ modelmu2.1/mu2;
+ modelvisual;
+ model size1 1 1/size;
+ model meshunit_box/mesh;
+ model materialGazebo/Rocky/material;
+ model/visual;
+ model /geom:box;
+ model/body:box;
+ model /model:physical;
+
+ factoryIface-Lock(1);
+ strcpy( (char*)factoryIface-data-newModel, model.str().c_str() );
+ factoryIface-Unlock();
+}
+
int main(int argc, char **argv)
{
client = new gazebo::Client();
simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
float vel = 1.0;
if (argc 1)
@@ -59,6 +89,20 @@
return -1;
}
+ // Open the factory iface
+ try
+ {
+factoryIface-Open(client, default);
+ }
+ catch( std::string e)
+ {
+std::cerr Gazebo error: Unable to connect to the factory Iface:
+ e \n;
+return -1;
+ }
+ spawn_box();
+
+ usleep(500);
//FILE *out = fopen(data_filename.c_str(), w);
/*if (!out)
@@ -72,12 +116,13 @@
gazebo::Vec3 linearVel, angularVel, linearAccel, angularAccel;
gazebo::Pose modelPose;
+
bool done = false;
while (!done)
{
-simIface-SetAngularVel(box_model, gazebo::Vec3(0,0,vel));
+simIface-SetAngularVel(box, gazebo::Vec3(0,0,vel));
-simIface-GetState(box_model, modelPose, linearVel, angularVel,
+simIface-GetState(box, modelPose, linearVel, angularVel,
linearAccel, angularAccel);
printf(Pos[%4.2f %4.2f %4.2f] RPY[%4.2f %4.2f %4.2f] , modelPose.pos.x,
modelPose.pos.y, modelPose.pos.z, modelPose.roll, modelPose.pitch,
modelPose.yaw);
printf(LV[%4.2f %4.2f %4.2f] ,linearVel.x, linearVel.y, linearVel.z );
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[Playerstage-commit] SF.net SVN: playerstage:[8725] code/gazebo/branches/simpar/cmake
Revision: 8725
http://playerstage.svn.sourceforge.net/playerstage/?rev=8725view=rev
Author: natepak
Date: 2010-05-28 16:58:40 + (Fri, 28 May 2010)
Log Message:
---
update the ode cmake
Modified Paths:
--
code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
Removed Paths:
-
code/gazebo/branches/simpar/cmake/FindOde.cmake
Deleted: code/gazebo/branches/simpar/cmake/FindOde.cmake
===
--- code/gazebo/branches/simpar/cmake/FindOde.cmake 2010-05-28 16:30:17 UTC
(rev 8724)
+++ code/gazebo/branches/simpar/cmake/FindOde.cmake 2010-05-28 16:58:40 UTC
(rev 8725)
@@ -1,76 +0,0 @@
-include (${gazebo_cmake_dir}/GazeboUtils.cmake)
-include (FindPkgConfig)
-
-SET(REQUIRED_ODE_VERSION ${ODE_VERSION})
-
-# John - ode version with joint damping
-SET(ODE_JOINT_DAMPING_VERSION 0.11.1.1 CACHE INTERNAL ODE version with joint
damping FORCE)
-
-
-# Find packages
-IF (PKG_CONFIG_FOUND)
- pkg_check_modules(ODE ode=${ODE_VERSION})
- pkg_check_modules(ODE_JOINT_DAMPING ode=${ODE_JOINT_DAMPING_VERSION})
-ENDIF (PKG_CONFIG_FOUND)
-
-IF (NOT ODE_JOINT_DAMPING_FOUND)
- SET (INCLUDE_ODE_JOINT_DAMPING FALSE CACHE BOOL No support for ODE damping)
-ELSE (NOT ODE_JOINT_DAMPING_FOUND)
- SET (INCLUDE_ODE_JOINT_DAMPING TRUE CACHE BOOL Include support for ODE
damping)
-ENDIF (NOT ODE_JOINT_DAMPING_FOUND)
-
-# if we didnt find it in pkg-config try ode-config
-#IF (NOT ODE_FOUND)
-# SET(ODE_CONFIG_PATH ode-config)
-# EXEC_PROGRAM(${ODE_CONFIG_PATH} ARGS --version RETURN_VALUE
ODE_CONFIG_RETURN OUTPUT_VARIABLE DETECTED_ODE_VERSION )
-# STRING(REGEX REPLACE [\r\n] ${DETECTED_ODE_VERSION}
${${DETECTED_ODE_VERSION}})
-#
-# # ode-config exists then get the details
-# IF(NOT ODE_CONFIG_RETURN)
-#IF(NOT ${REQUIRED_ODE_VERSION} VERSION_LESS ${DETECTED_ODE_VERSION} )
-# MESSAGE(STATUS ode-config reports version ${DETECTED_ODE_VERSION})
-# EXEC_PROGRAM(${ODE_CONFIG_PATH} ARGS --cflags RETURN_VALUE
ODE_CONFIG_RETURN OUTPUT_VARIABLE ODE_INCLUDE_DIRS )
-# STRING(REGEX REPLACE [\r\n] ${ODE_INCLUDE_DIRS}
${${ODE_INCLUDE_DIRS}})
-#
-# # we want to extract -DdSINGLE or -DdDOUBLE to compile with the correct
flag
-# STRING(REGEX REPLACE .*-Dd([^ ]+).* -Dd\\1 ODE_CFLAGS_OTHER
${ODE_INCLUDE_DIRS})
-# MESSAGE(STATUS ${ODE_CFLAGS_OTHER} used to compile against the ODE
library)
-#
-# EXEC_PROGRAM(${ODE_CONFIG_PATH} ARGS --libs RETURN_VALUE
ODE_CONFIG_RETURN OUTPUT_VARIABLE ODE_LDFLAGS )
-# STRING(REGEX REPLACE [\r\n] ${ODE_LDFLAGS} ${${ODE_LDFLAGS}})
-#
-# SET(ODE_FOUND ${DETECTED_ODE_VERSION})
-#ELSE(NOT ${REQUIRED_ODE_VERSION} VERSION_LESS ${DETECTED_ODE_VERSION} )
-# MESSAGE(STATUS ode-config reports wrong version
(${DETECTED_ODE_VERSION} ${REQUIRED_ODE_VERSION}))
-#ENDIF(NOT ${REQUIRED_ODE_VERSION} VERSION_LESS ${DETECTED_ODE_VERSION} )
-# ELSE(NOT ODE_CONFIG_RETURN)
-# MESSAGE(STATUS no ode-config found)
-# ENDIF(NOT ODE_CONFIG_RETURN)
-#ENDIF (NOT ODE_FOUND)
-
-IF (NOT ODE_FOUND)
- BUILD_ERROR (ODE and development files not found. See the following
website: http://www.ode.org;)
- SET (INCLUDE_ODE FALSE CACHE BOOL Include support for ODE)
-ELSE (NOT ODE_FOUND)
- SET (INCLUDE_ODE TRUE CACHE BOOL Include support for ODE)
-
- #APPEND_TO_CACHED_LIST(gazeboserver_cflags
- # ${gazeboserver_cflags_desc}
- # ${ODE_CFLAGS_OTHER})
-
- APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
-${gazeboserver_include_dirs_desc}
-${ODE_INCLUDE_DIRS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_dirs
-${gazeboserver_link_dirs_desc}
-${ODE_LIBRARY_DIRS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
-${gazeboserver_link_libs_desc}
-${ODE_LINK_LIBS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
-${gazeboserver_link_libs_desc}
-${ODE_LIBRARIES})
- APPEND_TO_CACHED_LIST(gazeboserver_ldflags
-${gazeboserver_ldflags_desc}
-${ODE_LDFLAGS})
-ENDIF (NOT ODE_FOUND)
Modified: code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
===
--- code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-05-28
16:30:17 UTC (rev 8724)
+++ code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-05-28
16:58:40 UTC (rev 8725)
@@ -1,6 +1,9 @@
include (${gazebo_cmake_dir}/GazeboUtils.cmake)
include (CheckCXXSourceCompiles)
+# John - ode version with joint damping
+SET(ODE_JOINT_DAMPING_VERSION 0.11.1.1 CACHE INTERNAL ODE version with joint
damping FORCE)
+
set (use_internal_assimp OFF CACHE BOOL Use internal assimp FORCE)
set (INCLUDE_WEBGAZEBO
[Playerstage-commit] SF.net SVN: playerstage:[8726] code/gazebo/branches/simpar
Revision: 8726
http://playerstage.svn.sourceforge.net/playerstage/?rev=8726view=rev
Author: natepak
Date: 2010-05-28 17:24:13 + (Fri, 28 May 2010)
Log Message:
---
Added in a flag for enabling RT_SHADER
Modified Paths:
--
code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
code/gazebo/branches/simpar/config.h.in
code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc
code/gazebo/branches/simpar/server/rendering/RTShaderSystem.cc
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 16:58:40 UTC (rev 8725)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 17:24:13 UTC (rev 8726)
@@ -173,7 +173,7 @@
simIface-StartLogEntity(pioneer);
simIface-Unpause();
- double left = 1.0;
+ double left = 1.0/stepTime;
double right = left*1.8;
std::cout Left[ left ] Right[ right ]\n;
Modified: code/gazebo/branches/simpar/cmake/SearchForStuff.cmake
===
--- code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-05-28
16:58:40 UTC (rev 8725)
+++ code/gazebo/branches/simpar/cmake/SearchForStuff.cmake 2010-05-28
17:24:13 UTC (rev 8726)
@@ -94,10 +94,12 @@
set(ogre_libraries ${OGRE-RTShaderSystem_LIBRARIES})
set(ogre_cflags ${OGRE-RTShaderSystem_CFLAGS})
-add_definitions(-DUSE_RTSHADER_SYSTEM)
+set (INCLUDE_RTSHADER ON CACHE BOOL Enable GPU shaders)
else (OGRE-RTShaderSystem_FOUND)
+set (INCLUDE_RTSHADER OFF CACHE BOOL Enable GPU shaders)
+
pkg_check_modules(OGRE OGRE=${MIN_OGRE_VERSION})
if (NOT OGRE_FOUND)
BUILD_ERROR(Ogre3d version =${MIN_OGRE_VERSION} and development files
not found. See the following website for installation instructions:
http://www.orge3d.org;)
Modified: code/gazebo/branches/simpar/config.h.in
===
--- code/gazebo/branches/simpar/config.h.in 2010-05-28 16:58:40 UTC (rev
8725)
+++ code/gazebo/branches/simpar/config.h.in 2010-05-28 17:24:13 UTC (rev
8726)
@@ -15,3 +15,4 @@
#cmakedefine INCLUDE_BULLET 1
#cmakedefine INCLUDE_ODE 1
#cmakedefine INCLUDE_ODE_JOINT_DAMPING 1
+#cmakedefine INCLUDE_RTSHADER 1
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc
===
--- code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc 2010-05-28
16:58:40 UTC (rev 8725)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc 2010-05-28
17:24:13 UTC (rev 8726)
@@ -325,12 +325,13 @@
case VEL:
this-SetParam(dParamVel, value);
break;
-case HI_STOP:
+/*case HI_STOP:
this-SetParam(dParamHiStop, value);
break;
case LO_STOP:
this-SetParam(dParamLoStop, value);
break;
+ */
default:
gzerr(0) Unable to handle joint attribute[ attr ]\n;
break;
Modified: code/gazebo/branches/simpar/server/rendering/RTShaderSystem.cc
===
--- code/gazebo/branches/simpar/server/rendering/RTShaderSystem.cc
2010-05-28 16:58:40 UTC (rev 8725)
+++ code/gazebo/branches/simpar/server/rendering/RTShaderSystem.cc
2010-05-28 17:24:13 UTC (rev 8726)
@@ -53,7 +53,7 @@
/// Init the run time shader system
void RTShaderSystem::Init()
{
-#if OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR = MINOR_VERSION
+#if INCLUDE_RTSHADER OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR =
MINOR_VERSION
if (Ogre::RTShader::ShaderGenerator::initialize())
{
Ogre::StringVector groupVector;
@@ -137,7 +137,7 @@
void RTShaderSystem::Fini()
{
-#if OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR = MINOR_VERSION
+#if INCLUDE_RTSHADER OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR =
MINOR_VERSION
// Restore default scheme.
Ogre::MaterialManager::getSingleton().setActiveScheme(Ogre::MaterialManager::DEFAULT_SCHEME_NAME);
@@ -162,7 +162,7 @@
// Set an Ogre::Entity to use RT shaders
void RTShaderSystem::AttachEntity(OgreVisual *vis)
{
-#if OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR = MINOR_VERSION
+#if INCLUDE_RTSHADER OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR =
MINOR_VERSION
this-GenerateShaders(vis);
this-entities.push_back(vis);
#endif
@@ -172,7 +172,7 @@
// Remove and entity
void RTShaderSystem::DetachEntity(OgreVisual *vis)
{
-#if OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR = MINOR_VERSION
+#if INCLUDE_RTSHADER OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR =
MINOR_VERSION
this-entities.remove(vis);
#endif
}
@@ -181,7 +181,7 @@
/// Update the shaders
void RTShaderSystem::UpdateShaders()
{
-#if OGRE_VERSION_MAJOR = 1 OGRE_VERSION_MINOR
[Playerstage-commit] SF.net SVN: playerstage:[8727] code/gazebo/branches/simpar/benchmarks
Revision: 8727
http://playerstage.svn.sourceforge.net/playerstage/?rev=8727view=rev
Author: natepak
Date: 2010-05-28 21:22:39 + (Fri, 28 May 2010)
Log Message:
---
Update the sprial and circle benchmarks
Modified Paths:
--
code/gazebo/branches/simpar/benchmarks/CMakeLists.txt
code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
Modified: code/gazebo/branches/simpar/benchmarks/CMakeLists.txt
===
--- code/gazebo/branches/simpar/benchmarks/CMakeLists.txt 2010-05-28
17:24:13 UTC (rev 8726)
+++ code/gazebo/branches/simpar/benchmarks/CMakeLists.txt 2010-05-28
21:22:39 UTC (rev 8727)
@@ -31,6 +31,7 @@
box_drop
table
pioneer_circle
+pioneer_spiral
)
foreach (src ${benchmarks})
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 17:24:13 UTC (rev 8726)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 21:22:39 UTC (rev 8727)
@@ -4,7 +4,10 @@
#include vector
#include libgazebo/gz.h
#include boost/lexical_cast.hpp
+#include math.h
+#define DTOR(x) ( (x) * M_PI / 180.0)
+
gazebo::Client *client = NULL;
gazebo::SimulationIface *simIface = NULL;
gazebo::FactoryIface *factoryIface = NULL;
@@ -173,17 +176,36 @@
simIface-StartLogEntity(pioneer);
simIface-Unpause();
- double left = 1.0/stepTime;
- double right = left*1.8;
+ double angle = 10;
+ double speed = 0.2;
+ std::cout Radians[ DTOR(angle) ]\n;
+ double left = speed + DTOR(angle) * 0.39/2;
+ double right = speed - DTOR(angle) * 0.39/2;
- std::cout Left[ left ] Right[ right ]\n;
+ left = left / (.15 *0.5);
+ right = right / (.15 *0.5);
- double time = simIface-data-simTime;
- while(simIface-data-simTime - time 60)
+ //std::cout Left[ left ] Right[ right ]\n;
+
+ gazebo::Pose pose;
+ double prevX = 0;
+ std::cout X[ pose.pos.x ] Y[ pose.pos.y ]\n;
+
+ double time = simIface-data-realTime;
+ int circles = 0;
+
+ while (circles 4)
{
simIface-SetAngularVel(pioneer::left_wheel, gazebo::Vec3(0,0,left));
simIface-SetAngularVel(pioneer::right_wheel, gazebo::Vec3(0,0, right));
-usleep(1);
+simIface-GetPose2d(pioneer, pose);
+
+if (simIface-data-realTime - time 5.0 fabs(pose.pos.x) 0.1 )
+{
+ time = simIface-data-realTime;
+ circles++;
+ std::cout Found a circle[ circles ]\n;
+}
}
simIface-StopLogEntity(pioneer);
@@ -251,8 +273,8 @@
std::vectorstd::string step_types;
std::vectorstd::string ::iterator iter;
//step_types.push_back(robust);
- //step_types.push_back(world);
- step_types.push_back(quick);
+ step_types.push_back(world);
+ //step_types.push_back(quick);
for (iter = step_types.begin(); iter != step_types.end(); iter++)
{
@@ -266,9 +288,9 @@
int i = 0;
simIface-SetStepType(*iter);
-for (double step=0.0001; step 1e-5; step *= 0.5)
+for (double step=0.001; step 1e-5; step *= 0.5)
{
- unsigned int iterations = 10;
+ unsigned int iterations = 100;
if (*iter == world)
iterations = 199;
for (; iterations 200; iterations +=20, i++)
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
===
--- code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
2010-05-28 17:24:13 UTC (rev 8726)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_spiral_benchmark.cc
2010-05-28 21:22:39 UTC (rev 8727)
@@ -168,23 +168,16 @@
factoryIface-Unlock();
}
-void RunSim(double stepTime)
+void RunSim()
{
simIface-StartLogEntity(pioneer);
simIface-Unpause();
- double left = 0.1/stepTime;
- if (left 5)
-left = 5.0;
- double right = left * 0.5;
-
- std::cout Left[ left ] Right[ right ]\n;
-
double time = simIface-data-realTime;
while(simIface-data-realTime - time 60)
{
-simIface-ApplyTorque(pioneer::left_wheel,gazebo::Vec3(0,0,-50));
-usleep(10);
+simIface-ApplyTorque(pioneer::left_wheel,gazebo::Vec3(0,0,-30));
+usleep(2);
}
simIface-StopLogEntity(pioneer);
@@ -255,7 +248,7 @@
//step_types.push_back(world);
//step_types.push_back(quick);
- for (iter = step_types.begin(); iter != step_types.end(); iter++)
+ /*for (iter = step_types.begin(); iter != step_types.end(); iter++)
{
std::string path =
std::string(/home/nate/work/simpar/data/pioneer_spiral/) + *iter + /;
system((std::string(mkdir -p )+path).c_str());
@@ -278,8 +271,9 @@
fprintf(out,%d %f %d\n,i,step, iterations);
std::cout
[Playerstage-commit] SF.net SVN: playerstage:[8728] code/gazebo/branches/simpar/server/physics/ ode/ODEPhysics.cc
Revision: 8728
http://playerstage.svn.sourceforge.net/playerstage/?rev=8728view=rev
Author: natepak
Date: 2010-05-28 23:08:03 + (Fri, 28 May 2010)
Log Message:
---
Hacked ODEPhysics for a test case
Modified Paths:
--
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
===
--- code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
2010-05-28 21:22:39 UTC (rev 8727)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
2010-05-28 23:08:03 UTC (rev 8728)
@@ -222,12 +222,91 @@
{
std::vectorContactFeedback::iterator iter;
std::vectordJointFeedback::iterator jiter;
-
+
+ ODEBody *leftBody =
(ODEBody*)World::Instance()-GetEntityByName(pioneer::left_wheel);
+ ODEBody *rightBody =
(ODEBody*)World::Instance()-GetEntityByName(pioneer::right_wheel);
+ ODEBody *castorBody =
(ODEBody*)World::Instance()-GetEntityByName(pioneer::castor_body);
+ ODEBody *planeBody =
(ODEBody*)World::Instance()-GetEntityByName(plane1_model::plane1_body);
+
+ if (leftBody rightBody planeBody castorBody)
+ {
+ODEGeom *leftGeom = (ODEGeom*)leftBody-GetGeom(left_wheel_geom);
+ODEGeom *rightGeom = (ODEGeom*)rightBody-GetGeom(right_wheel_geom);
+ODEGeom *castorGeom = (ODEGeom*)castorBody-GetGeom(castor_geom);
+ODEGeom *planeGeom = (ODEGeom*)planeBody-GetGeom(plane1_geom);
+
+dContactGeom geomLeft, geomRight, geomCastor;
+geomLeft.pos[0] = leftBody-GetAbsPose().pos.x;
+geomLeft.pos[1] = leftBody-GetAbsPose().pos.y;
+geomLeft.pos[2] = 0;
+geomLeft.normal[0] = 0;
+geomLeft.normal[1] = 0;
+geomLeft.normal[2] = 1;
+geomLeft.depth = .001;
+geomLeft.g1 = leftGeom-GetGeomId();
+geomLeft.g2 = planeGeom-GetGeomId();
+
+geomRight.pos[0] = rightBody-GetAbsPose().pos.x;
+geomRight.pos[1] = rightBody-GetAbsPose().pos.y;
+geomRight.pos[2] = 0;
+geomRight.normal[0] = 0;
+geomRight.normal[1] = 0;
+geomRight.normal[2] = 1;
+geomRight.depth = .001;
+geomRight.g1 = rightGeom-GetGeomId();
+geomRight.g2 = planeGeom-GetGeomId();
+
+geomCastor.pos[0] = castorBody-GetAbsPose().pos.x;
+geomCastor.pos[1] = castorBody-GetAbsPose().pos.y;
+geomCastor.pos[2] = 0;
+geomCastor.normal[0] = 0;
+geomCastor.normal[1] = 0;
+geomCastor.normal[2] = 1;
+geomCastor.depth = .001;
+geomCastor.g1 = castorGeom-GetGeomId();
+geomCastor.g2 = planeGeom-GetGeomId();
+
+dContact contact;
+contact.geom = geomLeft;
+contact.surface.mode = dContactSoftERP | dContactSoftCFM;
+contact.surface.mu = 0;
+contact.surface.mu2 = 0;
+contact.surface.slip1 = 0.1;
+contact.surface.slip2 = 0.1;
+contact.surface.bounce = 0;
+dJointID c = dJointCreateContact(this-worldId, this-contactGroup,
contact);
+dJointAttach (c, leftBody-GetODEId(), planeBody-GetODEId());
+
+dContact contact2;
+contact2.geom = geomRight;
+contact2.surface.mode = dContactSoftERP | dContactSoftCFM;
+contact2.surface.mu = 0;
+contact2.surface.mu2 = 0;
+contact2.surface.slip1 = 0.1;
+contact2.surface.slip2 = 0.1;
+contact2.surface.bounce = 0;
+dJointID c2 = dJointCreateContact(this-worldId, this-contactGroup,
contact2);
+dJointAttach (c2, rightBody-GetODEId(), planeBody-GetODEId());
+
+dContact contact3;
+contact3.geom = geomCastor;
+contact3.surface.mode = dContactSoftERP | dContactSoftCFM;
+contact3.surface.mu = 0;
+contact3.surface.mu2 = 0;
+contact3.surface.slip1 = 0.1;
+contact3.surface.slip2 = 0.1;
+contact3.surface.bounce = 0;
+dJointID c3 = dJointCreateContact(this-worldId, this-contactGroup,
contact3);
+dJointAttach (c3, castorBody-GetODEId(), planeBody-GetODEId());
+
+ }
+
+
// Do collision detection; this will add contacts to the contact group
this-LockMutex();
{
//DiagnosticTimer timer(ODEPhysics Collision Update);
-dSpaceCollide( this-spaceId, this, CollisionCallback );
+//dSpaceCollide( this-spaceId, this, CollisionCallback );
}
this-UnlockMutex();
@@ -649,7 +728,7 @@
//contact.surface.mode = dContactSlip1 | dContactSlip2 |
// dContactSoftERP | dContactSoftCFM |
// dContactBounce | dContactMu2 |
dContactApprox1;
-contact.surface.mode = dContactSoftERP | dContactSoftCFM |
dContactApprox1;
+contact.surface.mode = dContactSoftERP | dContactSoftCFM;// |
dContactApprox1;
// with dContactSoftERP | dContactSoftCFM the test_pr2_collision
overshoots the cup
// Compute the CFM and ERP by assuming the two bodies form a
@@ -660,7 +739,7 @@
contact.surface.soft_erp = h * kp / (h * kp + kd);
contact.surface.soft_cfm = 1.0 / (h * kp + kd);
-if (geom1-surface-enableFriction
