Revision: 7036
http://playerstage.svn.sourceforge.net/playerstage/?rev=7036&view=rev
Author: natepak
Date: 2008-09-24 16:27:10 +0000 (Wed, 24 Sep 2008)
Log Message:
-----------
Fixed loading of heightmaps, and errors in mapgeom
Modified Paths:
--------------
code/gazebo/trunk/server/physics/MapGeom.cc
code/gazebo/trunk/server/physics/MapGeom.hh
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
Modified: code/gazebo/trunk/server/physics/MapGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/MapGeom.cc 2008-09-23 10:25:38 UTC (rev
7035)
+++ code/gazebo/trunk/server/physics/MapGeom.cc 2008-09-24 16:27:10 UTC (rev
7036)
@@ -42,6 +42,8 @@
using namespace gazebo;
+unsigned int MapGeom::geomCounter = 0;
+
//////////////////////////////////////////////////////////////////////////////
// Constructor
MapGeom::MapGeom(Body *body)
@@ -57,6 +59,7 @@
this->materialP = new ParamT<std::string>("material", "", 0);
this->granularityP = new ParamT<int>("granularity", 5, 0);
Param::End();
+
}
@@ -152,7 +155,10 @@
float ySize = (node->height) * this->scaleP->GetValue();
float zSize = this->wallHeightP->GetValue();
- stream << "<geom:box name='map_geom'>";
+ char geomName[256];
+ sprintf(geomName,"map_geom_%d",geomCounter++);
+
+ stream << "<geom:box name='" << geomName << "'>";
stream << " <mass>0.0</mass>";
stream << " <xyz>" << x << " " << y << " " << z << "</xyz>";
stream << " <rpy>0 0 0</rpy>";
Modified: code/gazebo/trunk/server/physics/MapGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/MapGeom.hh 2008-09-23 10:25:38 UTC (rev
7035)
+++ code/gazebo/trunk/server/physics/MapGeom.hh 2008-09-24 16:27:10 UTC (rev
7036)
@@ -146,6 +146,7 @@
private: QuadNode *root;
private: bool merged;
+ private: static unsigned int geomCounter;
};
@@ -186,6 +187,7 @@
public: bool leaf;
public: bool valid;
+
};
/// \}
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-09-23 10:25:38 UTC
(rev 7035)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-09-24 16:27:10 UTC
(rev 7036)
@@ -205,8 +205,8 @@
else
{
this->sceneType= SCENE_EXT;
- //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
- this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
+ this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
+ //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
}
Param::Begin(&this->parameters);
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