Revision: 6842 http://playerstage.svn.sourceforge.net/playerstage/?rev=6842&view=rev Author: rtv Date: 2008-07-11 00:06:09 -0700 (Fri, 11 Jul 2008)
Log Message: ----------- fixed worldfile regression Modified Paths: -------------- code/stage/trunk/libstage/canvas.cc code/stage/trunk/libstage/model.cc code/stage/trunk/libstage/model_load.cc code/stage/trunk/libstage/world.cc code/stage/trunk/worlds/benchmark/cave.world code/stage/trunk/worlds/benchmark/expand.cc code/stage/trunk/worlds/benchmark/hospital.world code/stage/trunk/worlds/simple.world Modified: code/stage/trunk/libstage/canvas.cc =================================================================== --- code/stage/trunk/libstage/canvas.cc 2008-07-11 06:31:47 UTC (rev 6841) +++ code/stage/trunk/libstage/canvas.cc 2008-07-11 07:06:09 UTC (rev 6842) @@ -71,8 +71,6 @@ setDirtyBuffer(); startx = starty = -1; - //panx = pany = stheta = sphi = 0.0; - //scale = 15.0; interval = 50; //msec between redraws graphics = true; @@ -410,12 +408,15 @@ world->TogglePause(); break; case ' ': // space bar + + // if the worldfile doesn't have the fields you need, you get + // a weird view. need to think this through a bit before + // eliminating the old behaviour - rtv - //current_camera->reset(); - if ( wf ) - current_camera->Load( wf, wf->LookupEntity( "window" ) ); - else - current_camera->reset(); + //if ( wf ) + //current_camera->Load( wf, wf->LookupEntity( "window" ) ); + //else + current_camera->reset(); //invalidate(); if( Fl::event_state( FL_CTRL ) ) { @@ -867,9 +868,9 @@ pCamOn.createMenuItem( menu, path ); pCamOn.menuCallback( perspectiveCb, this ); showOccupancy.createMenuItem( menu, path ); - showTrailArrows.createMenuItem( menu, path ); - showTrails.createMenuItem( menu, path ); - showTrailRise.createMenuItem( menu, path ); + //showTrailArrows.createMenuItem( menu, path ); // broken + showTrails.createMenuItem( menu, path ); + // showTrailRise.createMenuItem( menu, path ); // broken showTree.createMenuItem( menu, path ); showScreenshots.createMenuItem( menu, path ); } Modified: code/stage/trunk/libstage/model.cc =================================================================== --- code/stage/trunk/libstage/model.cc 2008-07-11 06:31:47 UTC (rev 6841) +++ code/stage/trunk/libstage/model.cc 2008-07-11 07:06:09 UTC (rev 6842) @@ -811,7 +811,7 @@ pose.z = (world->sim_time - checkpoint->time) * timescale; PushLocalCoords(); - glCallList( blocks_dl); + DrawBlocks(); PopCoords(); } } @@ -927,7 +927,6 @@ LISTMETHOD( children, StgModel*, DrawBlocksTree ); - gl_pose_shift( &geom.pose ); DrawBlocks(); PopCoords(); @@ -959,15 +958,19 @@ // TODO - fix this! //if( rebuild_displaylist ) - //{ - //rebuild_displaylist = false; + { + rebuild_displaylist = false; - //glNewList( blocks_dl, GL_COMPILE ); - LISTMETHOD( this->blocks, StgBlock*, Draw ); - //glEndList(); - //} + glNewList( blocks_dl, GL_COMPILE ); - //glCallList( blocks_dl ); + gl_pose_shift( &geom.pose ); + + LISTMETHOD( this->blocks, StgBlock*, Draw ); + glEndList(); + } + + //printf( "calling list for %s\n", token ); + glCallList( blocks_dl ); } // move into this model's local coordinate frame @@ -979,8 +982,8 @@ glTranslatef( 0,0, parent->geom.size.z ); gl_pose_shift( &pose ); - //gl_pose_shift( &geom.pose ); + // useful debug - draw a point at the local origin // PushColor( color ); // glPointSize( 5.0 ); @@ -1323,7 +1326,7 @@ this->pose = pose; this->pose.a = normalize(this->pose.a); - //this->NeedRedraw(); + this->NeedRedraw(); this->GPoseDirtyTree(); // global pose may have changed MapWithChildren(); Modified: code/stage/trunk/libstage/model_load.cc =================================================================== --- code/stage/trunk/libstage/model_load.cc 2008-07-11 06:31:47 UTC (rev 6841) +++ code/stage/trunk/libstage/model_load.cc 2008-07-11 07:06:09 UTC (rev 6842) @@ -31,7 +31,7 @@ char *name = (char*)wf->ReadString(wf_entity, "name", NULL ); if( name ) { - printf( "adding name %s to %s\n", name, this->token ); + //printf( "adding name %s to %s\n", name, this->token ); this->token = strdup( name ); world->AddModel( this ); // add this name to the world's table } Modified: code/stage/trunk/libstage/world.cc =================================================================== --- code/stage/trunk/libstage/world.cc 2008-07-11 06:31:47 UTC (rev 6841) +++ code/stage/trunk/libstage/world.cc 2008-07-11 07:06:09 UTC (rev 6842) @@ -303,7 +303,7 @@ stg_usec_t load_end_time = RealTimeNow(); - printf( "[Load time %.3fsec]", + printf( "[Load time %.3fsec]\n", (load_end_time - load_start_time) / 1000000.0 ); } Modified: code/stage/trunk/worlds/benchmark/cave.world =================================================================== --- code/stage/trunk/worlds/benchmark/cave.world 2008-07-11 06:31:47 UTC (rev 6841) +++ code/stage/trunk/worlds/benchmark/cave.world 2008-07-11 07:06:09 UTC (rev 6842) @@ -32,10 +32,11 @@ define rob pioneer2dx #define rob fancypioneer2dx # alternative with more complex polygons ( + origin [ 0 0 0 0 ] - sicklaser( pose [ 0.040 0 0 0 ] samples 180 ) + sicklaser( samples 180 ) # alternative laser with more complex polygons - # fancysicklaser( pose [ 0.040 0 0 0 ] samples 180 ) + # fancysicklaser( samples 180 ) ranger( pose [ 0 0 -0.050 0 ] ) @@ -55,13 +56,13 @@ define darkredrob rob( color "DarkRed" ) redrob( pose [-5.285 4.915 0 150.459] ) -redrob( pose [-4.432 5.655 0 -85.494] ) +redrob( pose [-4.458 5.785 0 -85.494] ) redrob( pose [-5.518 4.157 0 -10.236] ) redrob( pose [-6.007 5.008 0 144.441] ) redrob( pose [-5.599 3.365 0 -172.038] ) redrob( pose [-6.852 3.655 0 4.679] ) redrob( pose [-7.483 4.049 0 -12.199] ) -redrob( pose [-4.393 4.938 0 114.269] ) +redrob( pose [-4.341 4.938 0 5.407] ) redrob( pose [-6.277 4.252 0 -97.494] ) redrob( pose [-5.202 5.566 0 -89.743] ) @@ -83,20 +84,20 @@ greenrob( pose [-2.462 7.492 0 -65.482] ) greenrob( pose [-1.836 6.835 0 -59.739] ) greenrob( pose [-1.654 6.043 0 -171.672] ) -greenrob( pose [-0.519 7.392 0 -67.052] ) -greenrob( pose [-0.563 6.815 0 -106.072] ) +greenrob( pose [-0.389 7.392 0 -67.052] ) +greenrob( pose [-1.107 6.737 0 -106.072] ) greenrob( pose [-1.404 7.436 0 -110.338] ) -magentarob( pose [1.731 7.249 0 -92.107] ) +magentarob( pose [1.731 7.042 0 -92.107] ) magentarob( pose [2.586 6.521 0 -100.329] ) magentarob( pose [3.001 5.447 0 -46.977] ) magentarob( pose [3.611 7.214 0 -116.841] ) magentarob( pose [2.625 7.473 0 -48.982] ) magentarob( pose [3.660 6.559 0 -74.307] ) magentarob( pose [3.434 5.808 0 -83.857] ) -magentarob( pose [0.624 7.277 0 -40.753] ) +magentarob( pose [0.857 7.458 0 -29.294] ) magentarob( pose [2.017 6.083 0 -52.575] ) -magentarob( pose [0.561 6.752 0 4.367] ) +magentarob( pose [0.483 6.752 0 4.367] ) yellowrob( pose [-7.548 3.117 0 12.515] ) yellowrob( pose [-6.811 2.501 0 83.166] ) @@ -122,14 +123,14 @@ darkredrob( pose [-7.630 0.425 0 -15.747] ) darkredrob( pose [-7.571 1.112 0 1.397] ) -darkredrob( pose [-6.158 1.168 0 32.866] ) +darkredrob( pose [-6.028 1.220 0 32.866] ) darkredrob( pose [-4.509 0.635 0 4.689] ) darkredrob( pose [-7.549 -0.240 0 1.000 1.423] ) darkredrob( pose [-6.728 0.180 0 -22.542] ) darkredrob( pose [-6.824 0.826 0 -11.285] ) -darkredrob( pose [-6.015 0.257 0 -2.367] ) +darkredrob( pose [-5.963 0.335 0 -42.474] ) darkredrob( pose [-5.195 0.771 0 -64.592] ) -darkredrob( pose [-5.483 -0.245 0 70.044] ) +darkredrob( pose [-5.379 -0.115 0 70.044] ) cyanrob( pose [-2.544 4.684 0 -134.461] ) cyanrob( pose [-0.366 3.260 0 -44.509] ) @@ -143,12 +144,12 @@ cyanrob( pose [-1.483 5.050 0 8.818] ) orangerob( pose [-7.652 -2.012 0 -0.754] ) -orangerob( pose [-6.934 -2.155 0 -40.701] ) +orangerob( pose [-6.675 -2.544 0 -40.701] ) orangerob( pose [-6.798 -1.520 0 -93.732] ) orangerob( pose [-7.525 -0.994 0 -9.450] ) orangerob( pose [-6.679 -0.670 0 -70.140] ) -orangerob( pose [-7.611 -3.107 0 -51.626] ) -orangerob( pose [-6.656 -3.665 0 -70.493] ) +orangerob( pose [-7.481 -2.952 0 -51.626] ) +orangerob( pose [-6.967 -3.691 0 -104.870] ) orangerob( pose [-6.139 -3.326 0 -90.309] ) orangerob( pose [-6.163 -1.853 0 -115.649] ) orangerob( pose [-6.026 -0.817 0 -11.811] ) Modified: code/stage/trunk/worlds/benchmark/expand.cc =================================================================== --- code/stage/trunk/worlds/benchmark/expand.cc 2008-07-11 06:31:47 UTC (rev 6841) +++ code/stage/trunk/worlds/benchmark/expand.cc 2008-07-11 07:06:09 UTC (rev 6842) @@ -21,7 +21,7 @@ StgModelRanger* ranger; } robot_t; -#define VSPEED 0.5 // meters per second +#define VSPEED 0.4 // meters per second #define WGAIN 1.5 // turn speed gain #define SAFE_DIST 0.6 // meters #define SAFE_ANGLE 1 // radians Modified: code/stage/trunk/worlds/benchmark/hospital.world =================================================================== --- code/stage/trunk/worlds/benchmark/hospital.world 2008-07-11 06:31:47 UTC (rev 6841) +++ code/stage/trunk/worlds/benchmark/hospital.world 2008-07-11 07:06:09 UTC (rev 6842) @@ -2,8 +2,8 @@ # Authors: Richard Vaughan # $Id$ -include "inc/map.inc" -include "inc/pioneer.inc" +include "../map.inc" +include "../pioneer.inc" # set the resolution of the underlying raytrace model in meters resolution 0.02 Modified: code/stage/trunk/worlds/simple.world =================================================================== --- code/stage/trunk/worlds/simple.world 2008-07-11 06:31:47 UTC (rev 6841) +++ code/stage/trunk/worlds/simple.world 2008-07-11 07:06:09 UTC (rev 6842) @@ -7,7 +7,7 @@ include "sick.inc" # defines sick laser interval_sim 100 # simulation timestep in milliseconds -interval_real 20 # real-time interval between simulation updates in milliseconds +interval_real 1 # real-time interval between simulation updates in milliseconds paused 0 @@ -33,7 +33,7 @@ name "r0" pose [ -6.5 -6.5 0 45 ] - sicklaser( pose [0.04 0 0 0] ) + sicklaser() # remove this if you're using Player to control the robot ctrl "wander" This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------- Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! 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