Revision: 7058
http://playerstage.svn.sourceforge.net/playerstage/?rev=7058&view=rev
Author: natepak
Date: 2008-10-03 22:22:42 +0000 (Fri, 03 Oct 2008)
Log Message:
-----------
Fixed some problems with point lights. Improved UV tiling of boxes
Modified Paths:
--------------
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/gui/GLWindow.cc
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/OgreSimpleShape.cc
code/gazebo/trunk/server/rendering/OgreSimpleShape.hh
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/server/rendering/OgreVisual.hh
code/gazebo/trunk/server/rendering/UserCamera.cc
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-10-02 00:44:06 UTC (rev
7057)
+++ code/gazebo/trunk/server/Simulator.cc 2008-10-03 22:22:42 UTC (rev
7058)
@@ -158,6 +158,8 @@
// Create the GUI
this->gui = new Gui(x, y, width, height, "Gazebo");
+ Fl::check();
+ Fl::wait(0.3);
this->gui->Load(childNode);
}
}
Modified: code/gazebo/trunk/server/gui/GLWindow.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLWindow.cc 2008-10-02 00:44:06 UTC (rev
7057)
+++ code/gazebo/trunk/server/gui/GLWindow.cc 2008-10-03 22:22:42 UTC (rev
7058)
@@ -450,7 +450,7 @@
// Handle resizing the window
void GLWindow::resize(int x, int y, int w, int h)
{
- Fl_Window::resize(x,y,w,h);
+ Fl_Gl_Window::resize(x,y,w,h);
this->userCamera->Resize(w,h);
this->redraw();
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2008-10-02 00:44:06 UTC (rev 7057)
+++ code/gazebo/trunk/server/gui/Gui.cc 2008-10-03 22:22:42 UTC (rev 7058)
@@ -29,6 +29,7 @@
#include <FL/Fl_Menu_Item.H>
#include <FL/Fl_Menu_Bar.H>
#include <FL/Fl_Choice.H>
+#include <FL/Fl_Gl_Window.H>
#include "Global.hh"
#include "XMLConfig.hh"
@@ -89,6 +90,7 @@
this->show();
Fl::check();
+ Fl::wait(0.3);
// Create a dummy rendering window. This creates a context, and allows Ogre
// to initialize properly
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-10-02 00:44:06 UTC
(rev 7057)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2008-10-03 22:22:42 UTC
(rev 7058)
@@ -158,6 +158,7 @@
this->pitchNode = this->sceneNode->createChildSceneNode( this->cameraName +
"PitchNode");
this->pitchNode->pitch(Ogre::Degree(0));
this->pitchNode->attachObject(this->camera);
+ this->camera->setAutoAspectRatio(true);
this->saveCount = 0;
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-10-02 00:44:06 UTC
(rev 7057)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-10-03 22:22:42 UTC
(rev 7058)
@@ -68,7 +68,8 @@
// Create some basic shapes
OgreSimpleShape::CreateSphere("unit_sphere",1.0, 32, 32);
OgreSimpleShape::CreateSphere("joint_anchor",0.01, 32, 32);
- OgreSimpleShape::CreateBox("unit_box", Vector3(1,1,1));
+ OgreSimpleShape::CreateBox("unit_box_U1V1", Vector3(1,1,1),
+ Vector2<double>(1,1));
OgreSimpleShape::CreateCylinder("unit_cylinder", 0.5, 1.0, 1, 32);
}
@@ -159,7 +160,7 @@
// Set the direction which the light points
vec = node->GetVector3("direction", Vector3(0.0, 0.0, -1.0));
- light->setDirection(vec.x, vec.y, vec.z);
+ //light->setDirection(vec.x, vec.y, vec.z);
// Absolute range of light in world coordinates
range = node->GetTupleDouble("attenuation",0,1000);
@@ -571,6 +572,7 @@
Ogre::RenderWindow *window = NULL;
params["parentWindowHandle"] = Ogre::StringConverter::toString(display) +
":" + Ogre::StringConverter::toString(screen) + ":" +
Ogre::StringConverter::toString(winId);
+ //params["FSAA"] = Ogre::StringConverter::toString(2);
std::ostringstream stream;
stream << "OgreWindow(" << windowCounter++ << ")";
Modified: code/gazebo/trunk/server/rendering/OgreSimpleShape.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreSimpleShape.cc 2008-10-02
00:44:06 UTC (rev 7057)
+++ code/gazebo/trunk/server/rendering/OgreSimpleShape.cc 2008-10-03
22:22:42 UTC (rev 7058)
@@ -162,7 +162,8 @@
////////////////////////////////////////////////////////////////////////////////
/// Create a Box mesh
-void OgreSimpleShape::CreateBox(const std::string &name, const Vector3 &sides)
+void OgreSimpleShape::CreateBox(const std::string &name, const Vector3 &sides,
+ const Vector2<double> &uvCoords)
{
Ogre::MeshPtr mesh;
Ogre::SubMesh *subMesh;
@@ -237,33 +238,33 @@
// Vertex values
float v[8][3] =
{
- {-1, -1, -1}, {+1, -1, -1}, {+1, +1, -1}, {-1, +1, -1},
- {-1, -1, +1}, {+1, -1, +1}, {+1, +1, +1}, {-1, +1, +1}
+ {-1, -1, -1}, {-1, -1, +1}, {+1, -1, +1}, {+1, -1, -1},
+ {-1, +1, -1}, {-1, +1, +1}, {+1, +1, +1}, {+1, +1, -1}
};
// Normals for each vertex
float n[8][3]=
{
{-0.577350, -0.577350, -0.577350},
+ {-0.577350, -0.577350, 0.577350},
+ {0.577350, -0.577350, 0.577350},
{0.577350, -0.577350, -0.577350},
- {0.577350, 0.577350, -0.577350},
{-0.577350, 0.577350, -0.577350},
- {-0.577350, -0.577350, 0.577350},
- {0.577350, -0.577350, 0.577350},
+ {-0.577350, 0.577350, 0.577350},
{0.577350, 0.577350, 0.577350},
- {-0.577350, 0.577350, 0.577350}
+ {0.577350, 0.577350, -0.577350}
};
// Texture coords
- int t[4][2] =
+ float t[4][2] =
{
- {0, 1}, {1,1}, {1, 0}, {0,0}
+ {uvCoords.x, 0}, {0, 0}, {0,uvCoords.y}, {uvCoords.x, uvCoords.y}
};
// Vertices
int faces[6][4] =
{
- {2, 1, 0, 3}, {6, 7, 4, 5},
+ {2, 1, 0, 3}, {5, 6, 7, 4},
{2, 6, 5, 1}, {1, 5, 4, 0},
{0, 4, 7, 3}, {6, 2, 3, 7}
};
@@ -275,14 +276,14 @@
2, 3, 0,
4, 5, 7,
7, 5, 6,
- 8, 9, 11,
- 11, 9, 10,
+ 11,8,9,
+ 9,10,11,
12, 13, 15,
15, 13, 14,
16, 17, 18,
18, 19, 16,
- 20, 21, 23,
- 23, 21, 22
+ 21,22,23,
+ 23,20,21,
};
// Compute the vertices
@@ -301,7 +302,9 @@
{
// Set the vertex
for (j=0; j<3; j++)
+ {
*vertices++ = v[faces[i][k]][j];
+ }
// Set the normal
for (j=0; j<3; j++)
Modified: code/gazebo/trunk/server/rendering/OgreSimpleShape.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreSimpleShape.hh 2008-10-02
00:44:06 UTC (rev 7057)
+++ code/gazebo/trunk/server/rendering/OgreSimpleShape.hh 2008-10-03
22:22:42 UTC (rev 7058)
@@ -4,6 +4,7 @@
#include <Ogre.h>
#include "Vector3.hh"
+#include "Vector2.hh"
namespace gazebo
{
@@ -23,7 +24,8 @@
public: static void CreateSphere(const std::string &name, float radius, int
rings, int segments);
/// \brief Create a Box mesh
- public: static void CreateBox(const std::string &name, const Vector3 &sides);
+ public: static void CreateBox(const std::string &name, const Vector3 &sides,
+ const Vector2<double> &uvCoords);
/// \brief Create a cylinder mesh
public: static void CreateCylinder(const std::string &name, float radius,
float height, int rings, int segments);
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-10-02 00:44:06 UTC
(rev 7057)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2008-10-03 22:22:42 UTC
(rev 7058)
@@ -24,6 +24,7 @@
* SVN: $Id$
*/
#include <Ogre.h>
+#include "OgreSimpleShape.hh"
#include "Entity.hh"
#include "GazeboMessage.hh"
#include "GazeboError.hh"
@@ -67,6 +68,8 @@
this->rpyP->Callback( &OgreVisual::SetRotation, this );
this->meshNameP = new ParamT<std::string>("mesh","",1);
+ this->meshTileP = new ParamT< Vector2<double> >("uvTile",
+ Vector2<double>(1.0, 1.0), 0 );
this->materialNameP = new ParamT<std::string>("material",std::string(),0);
this->materialNameP->Callback( &OgreVisual::SetMaterial, this );
@@ -89,6 +92,7 @@
delete this->xyzP;
delete this->rpyP;
delete this->meshNameP;
+ delete this->meshTileP;
delete this->materialNameP;
delete this->castShadowsP;
}
@@ -106,6 +110,7 @@
this->xyzP->Load(node);
this->rpyP->Load(node);
this->meshNameP->Load(node);
+ this->meshTileP->Load(node);
this->materialNameP->Load(node);
this->castShadowsP->Load(node);
@@ -117,7 +122,21 @@
{
// Create the entity
stream << "ENTITY_" << this->sceneNode->getName();
- obj =
(Ogre::MovableObject*)this->sceneNode->getCreator()->createEntity(stream.str(),
this->meshNameP->GetValue());
+ std::string meshName = (**this->meshNameP);
+
+ if ( meshName == "unit_box")
+ {
+ meshName += "_U" +
+ boost::lexical_cast<std::string>(this->meshTileP->GetValue().x) + "V" +
+ boost::lexical_cast<std::string>(this->meshTileP->GetValue().y);
+
+ if (!this->sceneNode->getCreator()->hasEntity(meshName))
+ {
+ OgreSimpleShape::CreateBox(meshName, Vector3(1,1,1),
**this->meshTileP);
+ }
+ }
+
+ obj =
(Ogre::MovableObject*)this->sceneNode->getCreator()->createEntity(stream.str(),
meshName);
}
catch (Ogre::Exception e)
{
@@ -537,7 +556,7 @@
this->boundingBoxNode =
this->sceneNode->createChildSceneNode(nodeName.str());
this->boundingBoxNode->setInheritScale(false);
- Ogre::MovableObject *odeObj =
(Ogre::MovableObject*)(this->sceneNode->getCreator()->createEntity(nodeName.str()+"_OBJ",
"unit_box"));
+ Ogre::MovableObject *odeObj =
(Ogre::MovableObject*)(this->sceneNode->getCreator()->createEntity(nodeName.str()+"_OBJ",
"unit_box_U1V1"));
this->boundingBoxNode->attachObject(odeObj);
Vector3 diff = max-min;
Modified: code/gazebo/trunk/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.hh 2008-10-02 00:44:06 UTC
(rev 7057)
+++ code/gazebo/trunk/server/rendering/OgreVisual.hh 2008-10-03 22:22:42 UTC
(rev 7058)
@@ -147,6 +147,7 @@
private: ParamT<bool> *castShadowsP;
private: ParamT<Vector3> *sizeP;
private: ParamT<Vector3> *scaleP;
+ private: ParamT<Vector2<double> > *meshTileP;
};
}
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2008-10-02 00:44:06 UTC
(rev 7057)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2008-10-03 22:22:42 UTC
(rev 7058)
@@ -98,9 +98,14 @@
/// Resize the camera
void UserCamera::Resize(unsigned int w, unsigned int h)
{
- this->window->resize(w, h);
- this->viewport->setDimensions(0,0,1,1);
- this->SetAspectRatio( Ogre::Real(this->viewport->getActualWidth()) /
Ogre::Real(this->viewport->getActualHeight()) );
+ //this->window->resize(w, h);
+ //this->viewport->setDimensions(0,0,1,1);
+ //this->SetAspectRatio( Ogre::Real(this->viewport->getActualWidth()) /
Ogre::Real(this->viewport->getActualHeight()) );
+ //this->viewport->update();
+ //this->viewport->_updateDimensions();
+
+ this->window->windowMovedOrResized();
+ printf("Resize[%d %d] new[%d %d]\n", w, h, this->window->getWidth(),
this->window->getHeight());
}
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