Revision: 6900
http://playerstage.svn.sourceforge.net/playerstage/?rev=6900&view=rev
Author: natepak
Date: 2008-07-22 16:14:59 +0000 (Tue, 22 Jul 2008)
Log Message:
-----------
Added mouse picking.
Modified Paths:
--------------
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
code/gazebo/trunk/server/gui/GLWindow.cc
code/gazebo/trunk/server/gui/GLWindow.hh
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.hh
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/server/rendering/OgreVisual.hh
code/gazebo/trunk/server/rendering/UserCamera.cc
code/gazebo/trunk/worlds/simpleshapes.world
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2008-07-21 23:39:22 UTC (rev 6899)
+++ code/gazebo/trunk/server/Entity.cc 2008-07-22 16:14:59 UTC (rev 6900)
@@ -24,6 +24,8 @@
* Date: 03 Apr 2007
* SVN: $Id$
*/
+
+#include "Body.hh"
#include "GazeboError.hh"
#include "Global.hh"
#include "OgreVisual.hh"
@@ -134,7 +136,19 @@
// Set whether this entity is static: immovable
void Entity::SetStatic(bool s)
{
+ std::vector< Entity *>::iterator iter;
+ Body *body = NULL;
+
this->isStatic = s;
+
+ for (iter = this->children.begin(); iter != this->children.end(); iter++)
+ {
+ (*iter)->SetStatic(s);
+ body = dynamic_cast<Body*>(*iter);
+ if (body)
+ body->SetEnabled(!s);
+ }
+
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2008-07-21 23:39:22 UTC (rev 6899)
+++ code/gazebo/trunk/server/Model.cc 2008-07-22 16:14:59 UTC (rev 6900)
@@ -174,11 +174,6 @@
}
-void Model::Test()
-{
- std::cout << "this is a test\n";
-}
-
void Model::Save()
{
/*std::map<std::string, Body* >::iterator bodyIter;
@@ -290,11 +285,9 @@
boost::python::call<void>(this->pFuncUpdate, this);
}*/
- Body *b = NULL;
if (!this->canonicalBodyName.empty())
{
this->pose = this->bodies[this->canonicalBodyName]->GetPose();
- b = this->bodies[this->canonicalBodyName];
}
return this->UpdateChild();
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2008-07-21 23:39:22 UTC (rev 6899)
+++ code/gazebo/trunk/server/Model.hh 2008-07-22 16:14:59 UTC (rev 6900)
@@ -66,7 +66,6 @@
/// \brief Save the model
public: void Save();
- public: void Test();
/// \brief Initialize the model
public: int Init();
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-07-21 23:39:22 UTC (rev
6899)
+++ code/gazebo/trunk/server/Simulator.cc 2008-07-22 16:14:59 UTC (rev
6900)
@@ -28,6 +28,9 @@
#include <fstream>
#include <sys/time.h>
+#include "Model.hh"
+#include "Entity.hh"
+#include "OgreVisual.hh"
#include "World.hh"
#include "Gui.hh"
#include "XMLConfig.hh"
@@ -466,3 +469,33 @@
{
return this->physicsEnabled;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the selected entity
+void Simulator::SetSelectedEntity( Entity *ent )
+{
+ if (this->selectedEntity)
+ {
+ this->selectedEntity->GetVisualNode()->ShowSelectionBox(false);
+ this->selectedEntity->SetStatic(false);
+ }
+
+ if (this->selectedEntity != ent)
+ {
+ this->selectedEntity = ent;
+ this->selectedEntity->GetVisualNode()->ShowSelectionBox(true);
+ this->selectedEntity->SetStatic(true);
+ }
+ else
+ this->selectedEntity = NULL;
+
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the selected entity
+Entity *Simulator::GetSelectedEntity() const
+{
+ return this->selectedEntity;
+}
+
+
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2008-07-21 23:39:22 UTC (rev
6899)
+++ code/gazebo/trunk/server/Simulator.hh 2008-07-22 16:14:59 UTC (rev
6900)
@@ -44,6 +44,7 @@
class XMLConfigNode;
class GazeboConfig;
class OgreAdaptor;
+ class Entity;
/// \brief The World
/*
@@ -157,6 +158,12 @@
/// \brief Get the physics enabled/disabled
public: bool GetPhysicsEnabled() const;
+ /// \brief Set the selected entity
+ public: void SetSelectedEntity( Entity *ent );
+
+ /// \brief Get the selected entity
+ public: Entity *GetSelectedEntity() const;
+
///pointer to the XML Data
private: XMLConfig *xmlFile;
@@ -213,6 +220,9 @@
/// Length of time the simulation should run
private: double timeout;
+ /// The entity currently selected by the user
+ private: Entity *selectedEntity;
+
//Singleton implementation
private: friend class DestroyerT<Simulator>;
private: friend class SingletonT<Simulator>;
Modified: code/gazebo/trunk/server/gui/GLWindow.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.cc 2008-07-21 23:39:22 UTC (rev
6899)
+++ code/gazebo/trunk/server/gui/GLWindow.cc 2008-07-22 16:14:59 UTC (rev
6900)
@@ -24,6 +24,7 @@
* SVN: $Id:$
*/
+#include "Model.hh"
#include <X11/keysym.h>
#include <X11/Xlib.h>
#include <X11/Xutil.h>
@@ -32,6 +33,7 @@
#include <GL/glx.h>
+#include "Entity.hh"
#include "OgreCamera.hh"
#include "OgreCreator.hh"
#include "Simulator.hh"
@@ -195,7 +197,11 @@
if (!this->mouseDrag)
{
- //Entity *ent = World::Instance()->GetEntityAt(this->mousePos);
+ Entity *ent = OgreAdaptor::Instance()->GetEntityAt(this->activeCamera,
this->mousePos);
+ if (ent)
+ {
+ Simulator::Instance()->SetSelectedEntity( ent );
+ }
}
this->mouseDrag = false;
@@ -207,18 +213,44 @@
{
if (this->activeCamera && this->activeCamera->GetUserMovable())
{
+ Vector2<int> d = this->mousePos - this->prevMousePos;
if (this->leftMousePressed)
{
- Vector2<int> d = this->mousePos - this->prevMousePos;
this->activeCamera->RotateYaw(DTOR(-d.x * this->rotateAmount));
this->activeCamera->RotatePitch(DTOR(d.y * this->rotateAmount));
}
+ else if (this->rightMousePressed)
+ {
+ Model *model =
dynamic_cast<Model*>(Simulator::Instance()->GetSelectedEntity());
+ if (model)
+ {
+ Pose3d pose = model->GetPose();
+ pose.pos.y -= d.x * 0.05;
+ pose.pos.x -= d.y * 0.05;
+ model->SetPose(pose);
+ }
+ }
+
}
this->mouseDrag = true;
}
////////////////////////////////////////////////////////////////////////////////
+// Handle mouse wheel movement
+void GLWindow::HandleMouseWheel(int dx, int dy)
+{
+ Model *model =
dynamic_cast<Model*>(Simulator::Instance()->GetSelectedEntity());
+ if (model)
+ {
+ Pose3d pose = model->GetPose();
+ pose.pos.z += dy * 0.05;
+ model->SetPose(pose);
+ }
+
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Handle a key press
void GLWindow::HandleKeyPress(int keyNum)
{
@@ -380,6 +412,11 @@
handled = true;
break;
+ case FL_MOUSEWHEEL:
+ this->HandleMouseWheel(Fl::event_dx(), Fl::event_dy());
+ handled = true;
+ break;
+
default:
break;
}
Modified: code/gazebo/trunk/server/gui/GLWindow.hh
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.hh 2008-07-21 23:39:22 UTC (rev
6899)
+++ code/gazebo/trunk/server/gui/GLWindow.hh 2008-07-22 16:14:59 UTC (rev
6900)
@@ -113,6 +113,8 @@
/// \brief Handle a key release
private: void HandleKeyRelease(int keyNum);
+ /// \brief Handle mouse wheel movement
+ private: void HandleMouseWheel(int dx, int dy);
/// ID of the window
private: Window windowId;
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2008-07-21 23:39:22 UTC (rev
6899)
+++ code/gazebo/trunk/server/physics/Body.cc 2008-07-22 16:14:59 UTC (rev
6900)
@@ -51,16 +51,11 @@
Body::Body(Entity *parent, dWorldID worldId)
: Entity(parent)
{
- if (!this->IsStatic())
- {
- this->bodyId = dBodyCreate(worldId);
+ this->bodyId = dBodyCreate(worldId);
- dMassSetZero( &this->mass );
- }
- else
- {
- this->bodyId = NULL;
- }
+ dMassSetZero( &this->mass );
+
+ this->SetEnabled(!this->IsStatic());
}
@@ -163,8 +158,7 @@
// Set whether gravity affects this body
void Body::SetGravityMode(bool mode)
{
- if (this->bodyId)
- dBodySetGravityMode(this->bodyId, mode);
+ dBodySetGravityMode(this->bodyId, mode);
}
////////////////////////////////////////////////////////////////////////////////
@@ -191,11 +185,16 @@
if (!this->IsStatic())
{
+ //this->SetEnabled(true);
Pose3d pose = this->GetPose();
// Set the pose of the scene node
this->visualNode->SetPose(pose);
}
+ else
+ {
+ this->SetEnabled(false);
+ }
for (geomIter=this->geoms.begin();
geomIter!=this->geoms.end(); geomIter++)
@@ -214,7 +213,7 @@
// Attach a geom to this body
void Body::AttachGeom( Geom *geom )
{
- if (this->bodyId)
+ //if (this->bodyId)
{
if (geom->IsPlaceable())
{
@@ -232,73 +231,35 @@
// Set the pose of the body
void Body::SetPose(const Pose3d &pose)
{
- if (this->IsStatic())
- {
- std::vector< Geom* >::iterator giter;
- PlaneGeom *plane = NULL;
- this->staticPose = pose;
+ Pose3d localPose;
- this->SetPosition(this->staticPose.pos);
- this->SetRotation(this->staticPose.rot);
+ // Compute pose of CoM
+ localPose = this->comPose + pose;
- // Hack to fix the altitude of the ODE plane
- for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
- {
- if ((*giter)->GetGeomClass() == dPlaneClass)
- {
- plane = dynamic_cast<PlaneGeom*>(*giter);
- plane->SetAltitude(pose.pos);
- }
- else
- (*giter)->SetImmovableBasePose(this->staticPose);
- }
- }
- else
- {
- Pose3d localPose;
-
- // Compute pose of CoM
- localPose =this->comPose + pose;
-
- this->SetPosition(localPose.pos);
- this->SetRotation(localPose.rot);
- }
+ this->SetPosition(localPose.pos);
+ this->SetRotation(localPose.rot);
}
////////////////////////////////////////////////////////////////////////////////
// Return the pose of the body
Pose3d Body::GetPose() const
{
- if (this->IsStatic())
- return this->staticPose;
- else
- {
- Pose3d pose;
+ Pose3d pose;
- pose.pos = this->GetPosition();
- pose.rot = this->GetRotation();
+ pose.pos = this->GetPosition();
+ pose.rot = this->GetRotation();
- pose = this->comPose.CoordPoseSolve(pose);
+ pose = this->comPose.CoordPoseSolve(pose);
- return pose;
- }
+ return pose;
}
////////////////////////////////////////////////////////////////////////////////
// Set the position of the body
void Body::SetPosition(const Vector3 &pos)
{
+ dBodySetPosition(this->bodyId, pos.x, pos.y, pos.z);
- if (!this->IsStatic())
- {
- // Set the position of the ODE body
- dBodySetPosition(this->bodyId, pos.x, pos.y, pos.z);
- }
- else
- {
- this->staticPose.pos = pos;
- }
-
// Set the position of the scene node
this->visualNode->SetPosition(pos);
}
@@ -307,23 +268,15 @@
// Set the rotation of the body
void Body::SetRotation(const Quatern &rot)
{
- if (!this->IsStatic())
- {
- dQuaternion q;
- q[0] = rot.u;
- q[1] = rot.x;
- q[2] = rot.y;
- q[3] = rot.z;
+ dQuaternion q;
+ q[0] = rot.u;
+ q[1] = rot.x;
+ q[2] = rot.y;
+ q[3] = rot.z;
- // Set the rotation of the ODE body
- dBodySetQuaternion(this->bodyId, q);
+ // Set the rotation of the ODE body
+ dBodySetQuaternion(this->bodyId, q);
- }
- else
- {
- this->staticPose.rot = rot;
- }
-
// Set the orientation of the scene node
this->visualNode->SetRotation(rot);
}
@@ -332,22 +285,16 @@
// Return the position of the body. in global CS
Vector3 Body::GetPosition() const
{
+ Vector3 pos;
+ const dReal *p;
- if (!this->IsStatic())
- {
- Vector3 pos;
- const dReal *p;
+ p = dBodyGetPosition(this->bodyId);
- p = dBodyGetPosition(this->bodyId);
+ pos.x = p[0];
+ pos.y = p[1];
+ pos.z = p[2];
- pos.x = p[0];
- pos.y = p[1];
- pos.z = p[2];
-
- return pos;
- }
- else
- return this->staticPose.pos;
+ return pos;
}
@@ -355,23 +302,17 @@
// Return the rotation
Quatern Body::GetRotation() const
{
- if (!this->IsStatic())
- {
- Quatern rot;
- const dReal *r;
+ Quatern rot;
+ const dReal *r;
- r = dBodyGetQuaternion(this->bodyId);
+ r = dBodyGetQuaternion(this->bodyId);
- rot.u = r[0];
- rot.x = r[1];
- rot.y = r[2];
- rot.z = r[3];
+ rot.u = r[0];
+ rot.x = r[1];
+ rot.y = r[2];
+ rot.z = r[3];
- return rot;
- }
- else
- return this->staticPose.rot;
-
+ return rot;
}
////////////////////////////////////////////////////////////////////////////////
@@ -477,10 +418,6 @@
Pose3d oldPose, newPose, pose;
std::vector< Geom* >::iterator giter;
- // Dummy bodies dont have mass
- if (!this->bodyId)
- return;
-
// Construct the mass matrix by combining all the geoms
dMassSetZero( &this->mass );
@@ -552,12 +489,7 @@
/// Set the velocity of the body
void Body::SetLinearVel(const Vector3 &vel)
{
- if (!this->bodyId)
- {
- gzmsg(0) << "Invalid ODE body\n";
- }
- else
- dBodySetLinearVel(this->bodyId, vel.x, vel.y, vel.z);
+ dBodySetLinearVel(this->bodyId, vel.x, vel.y, vel.z);
}
////////////////////////////////////////////////////////////////////////////////
@@ -567,12 +499,6 @@
Vector3 vel;
const dReal *dvel;
- if (!this->bodyId)
- {
- gzmsg(0) << "Invalid ODE body\n";
- return vel;
- }
-
dvel = dBodyGetLinearVel(this->bodyId);
vel.x = dvel[0];
@@ -586,12 +512,7 @@
/// Set the velocity of the body
void Body::SetAngularVel(const Vector3 &vel)
{
- if (!this->bodyId)
- {
- gzmsg(0) << "Invalid ODE body\n";
- }
- else
- dBodySetAngularVel(this->bodyId, vel.x, vel.y, vel.z);
+ dBodySetAngularVel(this->bodyId, vel.x, vel.y, vel.z);
}
////////////////////////////////////////////////////////////////////////////////
@@ -601,12 +522,6 @@
Vector3 vel;
const dReal *dvel;
- if (!this->bodyId)
- {
- gzmsg(0) << "Invalid ODE body\n";
- return vel;
- }
-
dvel = dBodyGetAngularVel(this->bodyId);
vel.x = dvel[0];
@@ -619,12 +534,7 @@
/// \brief Set the force applied to the body
void Body::SetForce(const Vector3 &force)
{
- if (!this->bodyId)
- {
- gzmsg(0) << "Invalid ODE body\n";
- }
- else
- dBodySetForce(this->bodyId, force.x, force.y, force.z);
+ dBodySetForce(this->bodyId, force.x, force.y, force.z);
}
////////////////////////////////////////////////////////////////////////////////
@@ -634,12 +544,6 @@
Vector3 force;
const dReal *dforce;
- if (!this->bodyId)
- {
- gzmsg(0) << "Invalid ODE body\n";
- return force;
- }
-
dforce = dBodyGetForce(this->bodyId);
force.x = dforce[0];
@@ -653,12 +557,7 @@
/// \brief Set the torque applied to the body
void Body::SetTorque(const Vector3 &torque)
{
- if (!this->bodyId)
- {
- gzmsg(0) << "Invalid ODE body\n";
- }
- else
- dBodySetTorque(this->bodyId, torque.x, torque.y, torque.z);
+ dBodySetTorque(this->bodyId, torque.x, torque.y, torque.z);
}
////////////////////////////////////////////////////////////////////////////////
@@ -668,13 +567,6 @@
Vector3 torque;
const dReal *dtorque;
- if (!this->bodyId)
- {
- gzmsg(0) << "Invalid ODE body\n";
- return torque;
- }
-
-
dtorque = dBodyGetTorque(this->bodyId);
torque.x = dtorque[0];
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2008-07-21 23:39:22 UTC (rev
6899)
+++ code/gazebo/trunk/server/physics/Body.hh 2008-07-22 16:14:59 UTC (rev
6900)
@@ -168,7 +168,6 @@
private: bool isStatic;
private: Pose3d comPose;
- private: Pose3d staticPose;
};
/// \}
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2008-07-21 23:39:22 UTC (rev
6899)
+++ code/gazebo/trunk/server/physics/Geom.cc 2008-07-22 16:14:59 UTC (rev
6900)
@@ -122,7 +122,7 @@
childNode = node->GetChild("visual");
while (childNode)
{
- OgreVisual *visual = new OgreVisual(this->visualNode);
+ OgreVisual *visual = new OgreVisual(this->visualNode, this);
visual->Load(childNode);
this->visuals.push_back(visual);
childNode = childNode->GetNext("visual");
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-07-21 23:39:22 UTC
(rev 6899)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-07-22 16:14:59 UTC
(rev 6900)
@@ -165,15 +165,12 @@
{
entity->spaceId = entity->GetParent()->spaceId;
}
-
- this->entities[entity->GetId()] = entity;
}
////////////////////////////////////////////////////////////////////////////////
// Remove an entity from the physics engine
void ODEPhysics::RemoveEntity(Entity *entity)
{
- this->entities.erase(entity->GetId());
}
////////////////////////////////////////////////////////////////////////////////
@@ -262,25 +259,24 @@
double h, kp, kd;
contact.geom = contactGeoms[i];
- contact.surface.mode = 0;
+ contact.surface.mode = dContactSoftERP | dContactSoftCFM |
+ dContactBounce | dContactMu2;
+
// Compute the CFM and ERP by assuming the two bodies form a
// spring-damper system.
h = self->stepTime;
kp = 1 / (1 / geom1->contact->kp + 1 / geom2->contact->kp);
kd = geom1->contact->kd + geom2->contact->kd;
- contact.surface.mode |= dContactSoftERP | dContactSoftCFM;
contact.surface.soft_erp = h * kp / (h * kp + kd);
contact.surface.soft_cfm = 1 / (h * kp + kd);
- //contacts[i].surface.mode |= dContactBounce | dContactSoftCFM;
- contact.surface.mode |= dContactApprox1;
contact.surface.mu = MIN(geom1->contact->mu1, geom2->contact->mu1);
- contact.surface.mu2 = 0;
+ contact.surface.mu2 = MIN(geom1->contact->mu2, geom2->contact->mu2);
contact.surface.bounce = 0.1;
contact.surface.bounce_vel = 0.1;
- //contacts[i].surface.soft_cfm = 0.01;
+ contact.surface.soft_cfm = 0.01;
dJointID c = dJointCreateContact (self->worldId,
self->contactGroup, &contact);
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2008-07-21 23:39:22 UTC
(rev 6899)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2008-07-22 16:14:59 UTC
(rev 6900)
@@ -28,11 +28,9 @@
#define ODEPHYSICS_HH
#include <ode/ode.h>
-#include <map>
#include "PhysicsEngine.hh"
-
namespace gazebo
{
class SphereGeom;
@@ -131,9 +129,6 @@
/// \brief Collision attributes
private: dJointGroupID contactGroup;
- /// List of all the entities
- private: std::map<int, Entity* > entities;
-
private: double globalCFM;
private: double globalERP;
};
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-07-21 23:39:22 UTC
(rev 6899)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-07-22 16:14:59 UTC
(rev 6900)
@@ -34,6 +34,8 @@
#include <iostream>
#include <string.h>
+#include "Model.hh"
+#include "OgreVisual.hh"
#include "UserCamera.hh"
#include "MovableText.hh"
#include "OgreHUD.hh"
@@ -273,6 +275,8 @@
this->updateRate = node->GetDouble("maxUpdateRate",0,0);
this->raySceneQuery = this->sceneMgr->createRayQuery( Ogre::Ray() );
+ this->raySceneQuery->setSortByDistance(true);
+ this->raySceneQuery->setQueryMask(Ogre::SceneManager::ENTITY_TYPE_MASK);
}
////////////////////////////////////////////////////////////////////////////////
@@ -466,30 +470,50 @@
////////////////////////////////////////////////////////////////////////////////
/// Get an entity at a pixel location using a camera. Used for mouse picking.
-Entity *OgreAdaptor::GetEntityAt(OgreCamera *camera, int x, int y)
+Entity *OgreAdaptor::GetEntityAt(OgreCamera *camera, Vector2<int> mousePos)
{
- /*
- Ogre::Vector3 camPos = camera->getPosition();
+ Entity *entity = NULL;
+ Ogre::Camera *ogreCam = camera->GetOgreCamera();
+ Ogre::Vector3 camPos = ogreCam->getPosition();
- Ogre::Ray mouseRay = camera->getCameraToViewportRay(
- x/camera->GetViewportWidth(), y/camera->GetViewportHeight());
+ Ogre::Ray mouseRay = ogreCam->getCameraToViewportRay(
+ (float)mousePos.x / ogreCam->getViewport()->getActualWidth(),
+ (float)mousePos.y / ogreCam->getViewport()->getActualHeight() );
this->raySceneQuery->setRay( mouseRay );
// Perform the scene query
Ogre::RaySceneQueryResult &result = this->raySceneQuery->execute();
Ogre::RaySceneQueryResult::iterator iter = result.begin();
-
- // Get the results, set the camera height
- if (iter != result.end() && iter->worldFragment)
+
+ for (iter = result.begin(); iter != result.end(); iter++)
{
- Ogre::Real terrainHeight = iter->worldFragment->singleIntersection.y;
- if ((terrainHeight + 10.0f) > camPos.y)
- camera->setPosition( camPos.x, terrainHeight + 10.0f, camPos.z);
+ if (iter->movable)
+ {
+
+ OgreVisual *vis =
dynamic_cast<OgreVisual*>(iter->movable->getUserObject());
+ if (vis && vis->GetEntity())
+ {
+ entity = vis->GetEntity();
+ entity->GetVisualNode()->ShowSelectionBox(true);
+ Model *model = NULL;
+
+ do
+ {
+ model = dynamic_cast<Model*>(entity);
+ entity = entity->GetParent();
+ } while (model == NULL);
+
+ return model;
+ }
+ }
+
}
- */
+
+ return NULL;
}
+
////////////////////////////////////////////////////////////////////////////////
/// Get the desired update rate
double OgreAdaptor::GetUpdateRate()
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2008-07-21 23:39:22 UTC
(rev 6899)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2008-07-22 16:14:59 UTC
(rev 6900)
@@ -31,6 +31,7 @@
#include <X11/Xutil.h>
#include <GL/glx.h>
+#include "Vector2.hh"
#include "SingletonT.hh"
namespace Ogre
@@ -97,7 +98,7 @@
/// \brief Get an entity at a pixel location using a camera. Used for
/// mouse picking.
- public: Entity *GetEntityAt(OgreCamera *camera, int x, int y);
+ public: Entity *GetEntityAt(OgreCamera *camera, Vector2<int> mousePos);
private: void LoadPlugins();
private: void SetupResources();
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-07-21 23:39:22 UTC
(rev 6899)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-07-22 16:14:59 UTC
(rev 6900)
@@ -24,6 +24,7 @@
* SVN: $Id:$
*/
#include <Ogre.h>
+#include "Entity.hh"
#include "Global.hh"
#include "GazeboMessage.hh"
#include "GazeboError.hh"
@@ -37,7 +38,7 @@
////////////////////////////////////////////////////////////////////////////////
// Constructor
-OgreVisual::OgreVisual(OgreVisual *node)
+OgreVisual::OgreVisual(OgreVisual *node, Entity *owner)
{
std::ostringstream stream;
@@ -52,10 +53,10 @@
//FIXME: what if we add the capability to delete and add new children?
stream << this->parentNode->getName() << "_VISUAL_" << visualCounter++;
-
// Create the scene node
this->sceneNode = this->parentNode->createChildSceneNode( stream.str() );
+ this->entity = owner;
this->staticGeometry = NULL;
this->boundingBoxNode = NULL;
@@ -100,7 +101,7 @@
try
{
// Create the entity
- stream << this->sceneNode->getName() << "_ENTITY";
+ stream << "ENTITY_" << this->sceneNode->getName();
obj =
(Ogre::MovableObject*)this->sceneNode->getCreator()->createEntity(stream.str(),
meshName);
}
catch (Ogre::Exception e)
@@ -171,6 +172,7 @@
void OgreVisual::AttachObject( Ogre::MovableObject *obj)
{
this->sceneNode->attachObject(obj);
+ obj->setUserObject( this );
}
////////////////////////////////////////////////////////////////////////////////
@@ -524,3 +526,26 @@
this->boundingBoxNode->setVisible(false);
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the entity that manages this visual
+Entity *OgreVisual::GetEntity() const
+{
+ return this->entity;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set to true to show a white bounding box, used to indicate user selection
+void OgreVisual::ShowSelectionBox( bool value )
+{
+ Ogre::SceneNode *node = this->sceneNode;
+
+ while (node && node->numAttachedObjects() == 0)
+ {
+ node = dynamic_cast<Ogre::SceneNode*>(node->getChild(0));
+ }
+ if (node)
+ node->showBoundingBox(value);
+}
+
+
Modified: code/gazebo/trunk/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.hh 2008-07-21 23:39:22 UTC
(rev 6899)
+++ code/gazebo/trunk/server/rendering/OgreVisual.hh 2008-07-22 16:14:59 UTC
(rev 6900)
@@ -38,12 +38,13 @@
{
class XMLConfigNode;
-
+ class Entity;
+
/// \brief Ogre Visual Object
- class OgreVisual
+ class OgreVisual : public Ogre::UserDefinedObject
{
/// \brief Constructor
- public: OgreVisual (OgreVisual *node);
+ public: OgreVisual (OgreVisual *node, Entity *owner = NULL);
/// \brief Destructor
public: virtual ~OgreVisual();
@@ -117,6 +118,14 @@
/// \brief Make the visual objects static renderables
public: void MakeStatic();
+ /// \brief Get the entity that manages this visual
+ public: Entity *GetEntity() const;
+
+ /// \brief Set to true to show a white bounding box, used to indicate
+ // user selection
+ public: void ShowSelectionBox( bool value );
+
+
private: Ogre::MaterialPtr origMaterial;
private: Ogre::MaterialPtr myMaterial;
private: Ogre::SceneBlendType sceneBlendType;
@@ -134,6 +143,7 @@
private: static unsigned int visualCounter;
+ private: Entity *entity;
};
}
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2008-07-21 23:39:22 UTC
(rev 6899)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2008-07-22 16:14:59 UTC
(rev 6900)
@@ -39,7 +39,7 @@
////////////////////////////////////////////////////////////////////////////////
/// Constructor
UserCamera::UserCamera(GLWindow *parentWindow)
- : OgreCamera("User")
+ : OgreCamera("UserCamera")
{
this->window = OgreCreator::CreateWindow(parentWindow,
parentWindow->w(), parentWindow->h());
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2008-07-21 23:39:22 UTC (rev
6899)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2008-07-22 16:14:59 UTC (rev
6900)
@@ -15,10 +15,10 @@
<verbosity>5</verbosity>
<physics:ode>
- <stepTime>0.03</stepTime>
+ <stepTime>0.01</stepTime>
<gravity>0 0 -9.8</gravity>
- <cfm>0.008</cfm>
- <erp>0.2</erp>
+ <cfm>10e-5</cfm>
+ <erp>0.3</erp>
</physics:ode>
<rendering:gui>
@@ -32,18 +32,21 @@
<sky>
<material>Gazebo/CloudySky</material>
</sky>
+ <grid>false</grid>
</rendering:ogre>
<model:physical name="sphere1_model">
- <xyz>1 0 1.5</xyz>
+ <xyz>1 0 0.25</xyz>
<rpy>0.0 0.0 0.0</rpy>
<static>false</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
<size>0.5</size>
- <mass>1.0</mass>
+ <mass>0.0</mass>
+ <mu1>109999.0</mu1>
+
<visual>
<scale>0.5 0.5 0.5</scale>
<mesh>unit_sphere</mesh>
@@ -62,7 +65,7 @@
<geom:box name="box1_geom">
<size>1 1 1</size>
- <mass>1.0</mass>
+ <mass>0.1</mass>
<visual>
<mesh>unit_box</mesh>
<material>Gazebo/Rocky</material>
@@ -79,6 +82,8 @@
<geom:cylinder name="cylinder1_geom">
<size>0.5 1</size>
<mass>1.0</mass>
+ <mu1>1000.0</mu1>
+
<visual>
<mesh>unit_cylinder</mesh>
<material>Gazebo/RustyBarrel</material>
@@ -100,6 +105,8 @@
<segments>10 10</segments>
<uvTile>100 100</uvTile>
<material>Gazebo/Grey</material>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
</geom:plane>
</body:plane>
</model:physical>
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