Revision: 8197
http://playerstage.svn.sourceforge.net/playerstage/?rev=8197&view=rev
Author: natepak
Date: 2009-08-14 00:33:40 +0000 (Fri, 14 Aug 2009)
Log Message:
-----------
Added a tube shape to the OgreSimpleShape
Modified Paths:
--------------
code/gazebo/trunk/server/rendering/OgreSimpleShape.cc
code/gazebo/trunk/server/rendering/OgreSimpleShape.hh
Modified: code/gazebo/trunk/server/rendering/OgreSimpleShape.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreSimpleShape.cc 2009-08-13
01:06:05 UTC (rev 8196)
+++ code/gazebo/trunk/server/rendering/OgreSimpleShape.cc 2009-08-14
00:33:40 UTC (rev 8197)
@@ -1,3 +1,28 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Create various 3d shapes
+ * Author: Nathan Koenig
+ * Date: 3 Jan 2008
+ */
+
#include <cmath>
#include <iostream>
@@ -22,6 +47,8 @@
{
}
+////////////////////////////////////////////////////////////////////////////////
+// Create a sphere
void OgreSimpleShape::CreateSphere(const std::string &name, float radius, int
rings, int segments)
{
Ogre::MeshPtr mesh;
@@ -784,3 +811,227 @@
}
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Create a tube mesh
+void OgreSimpleShape::CreateTube(const std::string &name, float innerRadius,
float outterRadius, float height, int rings, int segments)
+{
+ Ogre::MeshPtr mesh;
+ Ogre::SubMesh *subMesh;
+ Ogre::VertexData *vertexData;
+ Ogre::VertexDeclaration* vertexDecl;
+ Ogre::HardwareVertexBufferSharedPtr vBuf;
+ Ogre::HardwareIndexBufferSharedPtr iBuf;
+ float *vertices, *vertStart;
+ unsigned short *indices, *indStart;
+ Vector3 vert, norm;
+ unsigned short verticeIndex = 0;
+ size_t currOffset = 0;
+ int ring, seg;
+ float deltaSegAngle = (2.0 * M_PI / segments);
+
+ try
+ {
+ // Create a new mesh specifically for manual definition.
+ mesh = Ogre::MeshManager::getSingleton().createManual(name,
+ Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
+
+ subMesh = mesh->createSubMesh();
+
+ mesh->sharedVertexData = new Ogre::VertexData();
+ vertexData = mesh->sharedVertexData;
+
+ // define the vertex format
+ vertexDecl = vertexData->vertexDeclaration;
+
+ // The vertexDecl should contain positions, blending weights, normals,
+ // diffiuse colors, specular colors, tex coords. In that order.
+
+ // positions
+ vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT3,
Ogre::VES_POSITION);
+ currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
+
+ // TODO: blending weights
+
+ // normals
+ vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT3, Ogre::VES_NORMAL);
+ currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
+
+ // TODO: diffuse colors
+
+ // TODO: specular colors
+
+ // two dimensional texture coordinates
+ vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT2,
+ Ogre::VES_TEXTURE_COORDINATES, 0);
+ currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT2);
+
+
+ // Needs at lest 2 rings, and 3 segments
+ rings = std::max(rings,1);
+ segments = std::max(segments,3);
+
+ // allocate the vertex buffer
+ vertexData->vertexCount = (rings+1) * (segments+1) * 2;
+
+ vBuf = Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
+ vertexDecl->getVertexSize(0),
+ vertexData->vertexCount,
+ Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
+ false);
+
+ vertexData->vertexBufferBinding->setBinding(0, vBuf);
+ vertices =
static_cast<float*>(vBuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));
+
+ // allocate index buffer
+ subMesh->indexData->indexCount = (6 * rings * (segments+1)) * 2 +
((segments+1) * 6) * 2;
+
+ subMesh->indexData->indexBuffer =
+ Ogre::HardwareBufferManager::getSingleton().createIndexBuffer(
+ Ogre::HardwareIndexBuffer::IT_16BIT,
+ subMesh->indexData->indexCount,
+ Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
+ false);
+
+ iBuf = subMesh->indexData->indexBuffer;
+ indices = static_cast<unsigned
short*>(iBuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));
+
+ vertStart = vertices;
+ indStart = indices;
+
+ float radius= 0;
+
+ radius = outterRadius;
+
+ // Generate the group of rings for the outsides of the cylinder
+ for (ring = 0; ring <= rings; ring++)
+ {
+ printf("RING[%d]\n", ring);
+ vert.z = ring * height/rings - height/2.0;
+
+ // Generate the group of segments for the current ring
+ for (seg = 0; seg <= segments; seg++)
+ {
+ printf("Seg[%d]\n", seg);
+ vert.y = radius * cosf(seg * deltaSegAngle);
+ vert.x = radius * sinf(seg * deltaSegAngle);
+ printf("Vertexp[%f %f %f]\n", vert.x, vert.y, vert.z);
+
+ // TODO: Don't think these normals are correct.
+ norm = vert;
+ norm.Normalize();
+
+ // Add one vertex to the strip which makes up the tube
+ *vertices++ = vert.x;
+ *vertices++ = vert.y;
+ *vertices++ = vert.z;
+
+ *vertices++ = norm.x;
+ *vertices++ = norm.y;
+ *vertices++ = norm.z;
+
+ // Texture coords
+ *vertices++ = (float) seg / (float) segments;
+ *vertices++ = (float) ring / (float) rings;
+
+ if (ring != rings)
+ {
+ // each vertex (except the last) has six indices
+ *indices++ = verticeIndex + segments + 1;
+ *indices++ = verticeIndex;
+ *indices++ = verticeIndex + segments;
+ *indices++ = verticeIndex + segments + 1;
+ *indices++ = verticeIndex + 1;
+ *indices++ = verticeIndex;
+ }
+ else
+ {
+ // This indices form the top cap
+ *indices++ = verticeIndex;
+ *indices++ = verticeIndex + segments + 1;
+ *indices++ = verticeIndex+1;
+ *indices++ = verticeIndex+1;
+ *indices++ = verticeIndex + segments + 1;
+ *indices++ = verticeIndex + segments + 2;
+ }
+
+ // There indices form the bottom cap
+ if (ring == 0 && seg < segments)
+ {
+ *indices++ = verticeIndex+1;
+ *indices++ = verticeIndex + (segments+1) * (((rings+1)*2)-1);
+ *indices++ = verticeIndex;
+ *indices++ = verticeIndex + (segments+1) * (((rings+1)*2)-1) + 1;
+ *indices++ = verticeIndex + (segments+1) * (((rings+1)*2)-1);
+ *indices++ = verticeIndex+1;
+ }
+
+ verticeIndex++;
+ }
+ }
+
+ // Generate the group of rings for the inside of the cylinder
+ radius = innerRadius;
+ for (ring = 0; ring <= rings; ring++)
+ {
+ vert.z = (height/2.0) - (ring * height/rings);
+
+ // Generate the group of segments for the current ring
+ for (seg = 0; seg <= segments; seg++)
+ {
+ vert.y = radius * cosf(seg * deltaSegAngle);
+ vert.x = radius * sinf(seg * deltaSegAngle);
+
+ // TODO: Don't think these normals are correct.
+ norm = vert;
+ norm.Normalize();
+
+ // Add one vertex to the strip which makes up the tube
+ *vertices++ = vert.x;
+ *vertices++ = vert.y;
+ *vertices++ = vert.z;
+
+ *vertices++ = norm.x;
+ *vertices++ = norm.y;
+ *vertices++ = norm.z;
+
+ // Texture coords
+ *vertices++ = (float) seg / (float) segments;
+ *vertices++ = (float) ring / (float) rings;
+
+ if (ring != rings)
+ {
+ // each vertex (except the last) has six indices
+ *indices++ = verticeIndex + segments + 1;
+ *indices++ = verticeIndex;
+ *indices++ = verticeIndex + segments;
+
+ *indices++ = verticeIndex + segments + 1;
+ *indices++ = verticeIndex + 1;
+ *indices++ = verticeIndex;
+ }
+
+ verticeIndex++;
+ }
+ }
+
+ // Unlock
+ vBuf->unlock();
+ iBuf->unlock();
+
+ // Generate face list
+ subMesh->useSharedVertices = true;
+
+ mesh->_setBounds( Ogre::AxisAlignedBox(
+ Ogre::Vector3(-outterRadius, -height/2, -outterRadius),
+ Ogre::Vector3(outterRadius, height/2, outterRadius)),
+ false );
+
+ // this line makes clear the mesh is loaded (avoids memory leaks)
+ mesh->load();
+ }
+ catch (Ogre::Exception e)
+ {
+ std::cerr << "Unable to create a basic Unit cylinder object" << std::endl;
+ }
+}
Modified: code/gazebo/trunk/server/rendering/OgreSimpleShape.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreSimpleShape.hh 2009-08-13
01:06:05 UTC (rev 8196)
+++ code/gazebo/trunk/server/rendering/OgreSimpleShape.hh 2009-08-14
00:33:40 UTC (rev 8197)
@@ -1,3 +1,28 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Create various 3d shapes
+ * Author: Nathan Koenig
+ * Date: 3 Jan 2008
+ */
+
#ifndef OGRESIMPLESHAPE_HH
#define OGRESIMPLESHAPE_HH
@@ -34,6 +59,12 @@
/// \brief Create a cone mesh
public: static void CreateCone(const std::string &name, float radius,
float height, int rings, int segments);
+
+ /// \brief Create a tube mesh
+ public: static void CreateTube(const std::string &name, float innerRadius,
+ float outterRadius, float height, int rings,
+ int segments);
+
};
/// \}
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