Revision: 7164
http://playerstage.svn.sourceforge.net/playerstage/?rev=7164&view=rev
Author: natepak
Date: 2008-11-21 03:39:28 +0000 (Fri, 21 Nov 2008)
Log Message:
-----------
Fixed the problem associated with creating unit_box meshes
Modified Paths:
--------------
code/gazebo/branches/ogre-1.4.9/server/controllers/actarray/bandit/Bandit_Actarray.cc
code/gazebo/branches/ogre-1.4.9/server/controllers/actarray/generic/Generic_Actarray.cc
code/gazebo/branches/ogre-1.4.9/server/rendering/OgreSimpleShape.cc
code/gazebo/branches/ogre-1.4.9/server/rendering/OgreVisual.cc
Modified:
code/gazebo/branches/ogre-1.4.9/server/controllers/actarray/bandit/Bandit_Actarray.cc
===================================================================
---
code/gazebo/branches/ogre-1.4.9/server/controllers/actarray/bandit/Bandit_Actarray.cc
2008-11-21 02:31:05 UTC (rev 7163)
+++
code/gazebo/branches/ogre-1.4.9/server/controllers/actarray/bandit/Bandit_Actarray.cc
2008-11-21 03:39:28 UTC (rev 7164)
@@ -151,11 +151,12 @@
angle = cmdAngle - joint->GetAngle();
if (fabs(angle) > 0.01)
- {
joint->SetParam( dParamVel, **(this->gainsP[i]) * angle);
- joint->SetParam( dParamFMax, **(this->forcesP[i]) );
- }
+ else
+ joint->SetParam( dParamVel, 0);
+ joint->SetParam( dParamFMax, **(this->forcesP[i]) );
+
}
else if (this->myIface->data->joint_mode[i] ==
GAZEBO_ACTARRAY_JOINT_SPEED_MODE)
{
Modified:
code/gazebo/branches/ogre-1.4.9/server/controllers/actarray/generic/Generic_Actarray.cc
===================================================================
---
code/gazebo/branches/ogre-1.4.9/server/controllers/actarray/generic/Generic_Actarray.cc
2008-11-21 02:31:05 UTC (rev 7163)
+++
code/gazebo/branches/ogre-1.4.9/server/controllers/actarray/generic/Generic_Actarray.cc
2008-11-21 03:39:28 UTC (rev 7164)
@@ -153,10 +153,11 @@
delta_position = target_position - actual_position;
if (fabs(delta_position) > tolerances[i])
- {
joint->SetParam( dParamVel, this->gains[i] * delta_position);
+ else
+ joint->SetParam( dParamVel, 0);
+
joint->SetParam( dParamFMax, this->forces[i] );
- }
this->myIface->data->actuators[i].position = actual_position;
this->myIface->data->actuators[i].speed = actual_speed;
Modified: code/gazebo/branches/ogre-1.4.9/server/rendering/OgreSimpleShape.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/rendering/OgreSimpleShape.cc
2008-11-21 02:31:05 UTC (rev 7163)
+++ code/gazebo/branches/ogre-1.4.9/server/rendering/OgreSimpleShape.cc
2008-11-21 03:39:28 UTC (rev 7164)
@@ -177,6 +177,9 @@
size_t currOffset = 0;
int i,j,k;
+ if (Ogre::MeshManager::getSingleton().resourceExists(name))
+ return;
+
// Create a new mesh specifically for manual definition.
mesh = Ogre::MeshManager::getSingleton().createManual(name,
Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
Modified: code/gazebo/branches/ogre-1.4.9/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/rendering/OgreVisual.cc
2008-11-21 02:31:05 UTC (rev 7163)
+++ code/gazebo/branches/ogre-1.4.9/server/rendering/OgreVisual.cc
2008-11-21 03:39:28 UTC (rev 7164)
@@ -23,6 +23,7 @@
* Date: 14 Dec 2007
* SVN: $Id$
*/
+
#include <Ogre.h>
#include "OgreSimpleShape.hh"
#include "Entity.hh"
@@ -136,7 +137,15 @@
}
}
- obj =
(Ogre::MovableObject*)this->sceneNode->getCreator()->createEntity(stream.str(),
meshName);
+ if ( this->sceneNode->getCreator()->hasEntity( meshName ) )
+ {
+ obj =
(Ogre::MovableObject*)this->sceneNode->getCreator()->getEntity(meshName);
+ }
+ else
+ {
+ obj =
(Ogre::MovableObject*)this->sceneNode->getCreator()->createEntity(stream.str(),
meshName);
+ }
+
}
catch (Ogre::Exception e)
{
@@ -188,7 +197,6 @@
// Allow the mesh to cast shadows
this->SetCastShadows(this->castShadowsP->GetValue());
-
}
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