Revision: 8414
http://playerstage.svn.sourceforge.net/playerstage/?rev=8414&view=rev
Author: natepak
Date: 2009-11-17 02:23:15 +0000 (Tue, 17 Nov 2009)
Log Message:
-----------
Fixed saving of world files, and added light visualization
Modified Paths:
--------------
code/gazebo/trunk/Media/materials/scripts/Gazebo.material
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/Common.cc
code/gazebo/trunk/server/Common.hh
code/gazebo/trunk/server/Entity.hh
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/GLFrame.cc
code/gazebo/trunk/server/gui/GLFrameManager.cc
code/gazebo/trunk/server/gui/GLFrameManager.hh
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/MapShape.cc
code/gazebo/trunk/server/physics/RayShape.cc
code/gazebo/trunk/server/physics/TrimeshShape.cc
code/gazebo/trunk/server/rendering/CMakeLists.txt
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.hh
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/OgreCreator.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/willowgarage.world
Added Paths:
-----------
code/gazebo/trunk/server/rendering/Light.cc
code/gazebo/trunk/server/rendering/Light.hh
Modified: code/gazebo/trunk/Media/materials/scripts/Gazebo.material
===================================================================
--- code/gazebo/trunk/Media/materials/scripts/Gazebo.material 2009-11-15
22:34:05 UTC (rev 8413)
+++ code/gazebo/trunk/Media/materials/scripts/Gazebo.material 2009-11-17
02:23:15 UTC (rev 8414)
@@ -247,6 +247,23 @@
}
}
+material Gazebo/PurpleEmissive
+{
+ receive_shadows off
+
+ technique
+ {
+ pass
+ {
+ ambient 1.000000 0.000000 1.000000 1.000000
+ diffuse 1.000000 0.000000 1.000000 1.000000
+ specular 0.200000 0.000000 0.200000 1.000000
+ emissive 1.000000 0.000000 1.000000 1.000000
+ lighting on
+ }
+ }
+}
+
material Gazebo/BlueLaser
{
receive_shadows off
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-11-15 22:34:05 UTC (rev
8413)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-11-17 02:23:15 UTC (rev
8414)
@@ -68,7 +68,6 @@
Angle.cc
Param.cc
GraphicsIfaceHandler.cc
- GuiAPI.cc
Simulator.cc
Rand.cc
Factory.cc
@@ -100,7 +99,6 @@
Angle.hh
Param.hh
GraphicsIfaceHandler.hh
- GuiAPI.hh
Simulator.hh
Rand.hh
Factory.hh
Modified: code/gazebo/trunk/server/Common.cc
===================================================================
--- code/gazebo/trunk/server/Common.cc 2009-11-15 22:34:05 UTC (rev 8413)
+++ code/gazebo/trunk/server/Common.cc 2009-11-17 02:23:15 UTC (rev 8414)
@@ -41,6 +41,8 @@
Param::Begin(&this->parameters);
this->nameP = new ParamT<std::string>("name","noname",1);
Param::End();
+
+ this->saveable = true;
}
////////////////////////////////////////////////////////////////////////////////
@@ -99,3 +101,19 @@
{
return this->id;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set whether the object should be "saved", when the user
+/// selects to save the world to xml
+void Common::SetSaveable(bool v)
+{
+ this->saveable = v;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get whether the object should be "saved", when the user
+/// selects to save the world to xml
+bool Common::GetSaveable() const
+{
+ return this->saveable;
+}
Modified: code/gazebo/trunk/server/Common.hh
===================================================================
--- code/gazebo/trunk/server/Common.hh 2009-11-15 22:34:05 UTC (rev 8413)
+++ code/gazebo/trunk/server/Common.hh 2009-11-17 02:23:15 UTC (rev 8414)
@@ -60,6 +60,14 @@
/// \brief Return the ID of this entity. This id is unique
/// \return Integer ID
public: int GetId() const;
+
+ /// \brief Set whether the object should be "saved", when the user
+ /// selects to save the world to xml
+ public: void SetSaveable(bool v);
+
+ /// \brief Get whether the object should be "saved", when the user
+ /// selects to save the world to xml
+ public: bool GetSaveable() const;
/// \brief This entities ID
private: unsigned int id;
@@ -72,6 +80,9 @@
/// List of all the parameters
protected: std::vector<Param*> parameters;
+
+ /// \brief Set to true if the object should be saved.
+ protected: bool saveable;
};
}
Modified: code/gazebo/trunk/server/Entity.hh
===================================================================
--- code/gazebo/trunk/server/Entity.hh 2009-11-15 22:34:05 UTC (rev 8413)
+++ code/gazebo/trunk/server/Entity.hh 2009-11-17 02:23:15 UTC (rev 8414)
@@ -97,7 +97,7 @@
/// \brief Set whether this entity has been selected by the user through
// the gui
- public: bool SetSelected( bool s );
+ public: virtual bool SetSelected( bool s );
/// \brief True if the entity is selected by the user
public: bool IsSelected() const;
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-11-15 22:34:05 UTC (rev 8413)
+++ code/gazebo/trunk/server/Model.cc 2009-11-17 02:23:15 UTC (rev 8414)
@@ -31,6 +31,7 @@
#include <float.h>
#include "OgreVisual.hh"
+#include "Light.hh"
#include "GraphicsIfaceHandler.hh"
#include "Global.hh"
#include "GazeboError.hh"
@@ -94,6 +95,8 @@
this->graphicsHandler = NULL;
this->parentBodyNameP = NULL;
this->myBodyNameP = NULL;
+
+ this->light = NULL;
}
////////////////////////////////////////////////////////////////////////////////
@@ -336,11 +339,8 @@
}
else
{
- if (!this->lightName.empty())
- {
- if (Simulator::Instance()->GetRenderEngineEnabled())
- OgreCreator::SaveLight(p, this->lightName, stream);
- }
+ if (this->light)
+ this->light->Save(p, stream);
}
if (this->parentBodyNameP && this->myBodyNameP)
@@ -1115,8 +1115,8 @@
if (Simulator::Instance()->GetRenderEngineEnabled() &&
(childNode = node->GetChild("light")))
{
- this->lightName = OgreCreator::CreateLight(childNode,
- body->GetVisualNode());
+ this->light = new Light(body);
+ this->light->Load(childNode);
}
}
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2009-11-15 22:34:05 UTC (rev 8413)
+++ code/gazebo/trunk/server/Model.hh 2009-11-17 02:23:15 UTC (rev 8414)
@@ -55,6 +55,7 @@
class GraphicsIfaceHandler;
class Sensor;
class Geom;
+ class Light;
/// \addtogroup gazebo_server
/// \brief A model
@@ -258,7 +259,7 @@
// Name of a light (if the model is renderable:light)
- private: std::string lightName;
+ private: Light *light;
private: GraphicsIfaceHandler *graphicsHandler;
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-11-15 22:34:05 UTC (rev
8413)
+++ code/gazebo/trunk/server/Simulator.cc 2009-11-17 02:23:15 UTC (rev
8414)
@@ -348,14 +348,14 @@
{
lastTime = this->GetWallTime();
+ if (this->gui)
+ this->gui->Update();
+
if (this->renderEngineEnabled)
OgreAdaptor::Instance()->UpdateCameras();
currTime = this->GetWallTime();
- if (this->gui)
- this->gui->Update();
-
World::Instance()->ProcessEntitiesToLoad();
if (this->renderEngineEnabled)
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2009-11-15 22:34:05 UTC (rev
8413)
+++ code/gazebo/trunk/server/Simulator.hh 2009-11-17 02:23:15 UTC (rev
8414)
@@ -51,6 +51,7 @@
class GazeboConfig;
class OgreAdaptor;
class Entity;
+ class Common;
class Body;
class Model;
Modified: code/gazebo/trunk/server/gui/GLFrame.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLFrame.cc 2009-11-15 22:34:05 UTC (rev
8413)
+++ code/gazebo/trunk/server/gui/GLFrame.cc 2009-11-17 02:23:15 UTC (rev
8414)
@@ -236,7 +236,6 @@
// Switch view callback
void GLFrame::ViewCB(Fl_Widget *widget, void *data)
{
- printf("VIEW CB\n");
GLFrame *frame = reinterpret_cast<GLFrame *>(data);
Fl_Choice *choice = dynamic_cast<Fl_Choice *>(widget);
Modified: code/gazebo/trunk/server/gui/GLFrameManager.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLFrameManager.cc 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/gui/GLFrameManager.cc 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -47,6 +47,8 @@
this->end();
this->resizable(this);
+
+ this->configNode = NULL;
}
////////////////////////////////////////////////////////////////////////////////
@@ -66,69 +68,15 @@
// Load from xml
void GLFrameManager::Load( XMLConfigNode *node )
{
+ this->configNode = node;
GLFrame *frame = NULL;
int windowCount = 0;
- XMLConfigNode *rowNode = NULL;
- XMLConfigNode *camNode = NULL;
- if (node)
- {
- rowNode = node->GetChild("row");
-
- float frameHeight, frameWidth;
- int width = this->w();
- int height = this->h();
- int x = this->x();
- int y = this->y();
-
- // Process each row
- while (rowNode)
- {
- camNode = rowNode->GetChild("camera");
-
- std::string heightStr = rowNode->GetString("height","",1);
-
- frameHeight = atof( heightStr.substr(0, heightStr.find( "%", 0 )
).c_str() );
-
- frameHeight = frameHeight/100.0 * height;
-
- // Process each camera
- while (camNode)
- {
- std::string widthStr = camNode->GetString("width","",1);
- frameWidth = atof( widthStr.substr(0, widthStr.find( "%", 0 )
).c_str() );
-
- frameWidth = frameWidth/100.0 * width;
-
- windowCount = this->children();
-
- // Create the frame
- frame = new GLFrame( x, y, (int)frameWidth, (int)frameHeight, "" );
- frame->Load(camNode);
-
- this->frames.push_back( frame );
- this->insert(*frame, windowCount);
-
- x += (int)frameWidth;
-
- camNode = camNode->GetNext();
- }
-
- y += (int)frameHeight;
- x = this->x();
-
- rowNode = rowNode->GetNext();
- }
- }
-
- // Create a big default window if no frames have been defined
- if (this->frames.size() == 0)
- {
- frame = new GLFrame( this->x(), this->y(), this->w(), this->h(), "" );
- this->frames.push_back( frame );
- this->insert(*frame, windowCount);
- }
-
+ // First, create one big window
+ frame = new GLFrame( this->x(), this->y(), this->w(), this->h(), "" );
+ this->frames.push_back( frame );
+ this->insert(*frame, windowCount);
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -140,29 +88,22 @@
stream << prefix << "<frames>\n";
- int cy = -1;
for (iter = this->frames.begin(); iter != this->frames.end(); iter++)
{
- int height = (int)( ((float)(*iter)->h() / this->h()) * 100 );
- int width = (int)( ((float)(*iter)->w() / this->w()) * 100 );
+ int width = (*iter)->w();
+ int height = (*iter)->h();
+ int x = (*iter)->x();
+ int y = (*iter)->y();
Pose3d pose = (*iter)->GetCameraPose();
- if ((*iter)->y() != cy)
- {
- if (cy != -1)
- stream << prefix << " </row>\n";
-
- cy = (*iter)->y();
- stream << prefix << " <row height=\"" << height << "%\">\n";
- }
-
- stream << prefix << " <camera width=\"" << width << "%\">\n";
+ stream << prefix << " <camera width=\"" << width
+ << "\" height=\"" << height << "\" x=\"" << x << "\" y=\""
+ << y << "\">\n";
stream << prefix << " <xyz>" << pose.pos << "</xyz>\n";
stream << prefix << " <rpy>" << pose.rot << "</rpy>\n";
stream << prefix << " </camera>\n";
}
- stream << prefix << " </row>\n";
stream << prefix << "</frames>\n";
}
@@ -181,6 +122,42 @@
/// Initalize the window manager
void GLFrameManager::Init()
{
+ // Create all the frames
+ if (this->configNode)
+ {
+ GLFrame *frame = this->frames[0];
+ XMLConfigNode *camNode = NULL;
+ camNode = this->configNode->GetChild("camera");
+
+ int i = 0;
+ while (camNode)
+ {
+ int width = camNode->GetInt("width",this->w(),1);
+ int height = camNode->GetInt("height",this->h(),1);
+ int x = camNode->GetInt("x",this->x(),1);
+ int y = camNode->GetInt("y",this->y(),1);
+ std::ostringstream stream;
+ stream << "GL Window " << i;
+
+ // Create the frame
+ if (i==0)
+ frame->resize(x,y,width,height);
+ else
+ {
+ frame = new GLFrame( x, y, width, height, stream.str() );
+ frame->Load(camNode);
+
+ this->frames.push_back( frame );
+ this->insert(*frame, i);
+ }
+
+ i++;
+ camNode = camNode->GetNext();
+ this->redraw();
+ }
+ }
+
+
std::vector<GLFrame *>::iterator iter;
for (iter = this->frames.begin(); iter != this->frames.end(); iter++)
{
Modified: code/gazebo/trunk/server/gui/GLFrameManager.hh
===================================================================
--- code/gazebo/trunk/server/gui/GLFrameManager.hh 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/gui/GLFrameManager.hh 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -68,6 +68,7 @@
/// Vector of all the frames
private: std::vector<GLFrame *> frames;
+ private: XMLConfigNode *configNode;
};
}
#endif
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2009-11-15 22:34:05 UTC (rev 8413)
+++ code/gazebo/trunk/server/gui/Gui.cc 2009-11-17 02:23:15 UTC (rev 8414)
@@ -126,6 +126,9 @@
{
std::string p = prefix + " ";
+ this->sizeP->SetValue(Vector2<int>(this->GetWidth(), this->GetHeight()));
+ this->posP->SetValue(Vector2<int>(this->x(), this->y()));
+
stream << prefix << "<rendering:gui>\n";
stream << prefix << " " << *(this->sizeP) << "\n";
stream << prefix << " " << *(this->posP) << "\n";
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-11-15 22:34:05 UTC (rev
8413)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-11-17 02:23:15 UTC (rev
8414)
@@ -93,7 +93,6 @@
// First step in the loading process
void Geom::Load(XMLConfigNode *node)
{
-
XMLConfigNode *childNode = NULL;
this->xmlNode=node;
@@ -138,6 +137,9 @@
this->visuals.push_back(visual);
visual->SetCastShadows(true);
}
+ if (this->IsStatic())
+ visual->MakeStatic();
+
childNode = childNode->GetNext("visual");
}
@@ -179,7 +181,7 @@
// Save the body based on our XMLConfig node
void Geom::Save(std::string &prefix, std::ostream &stream)
{
- if (this->GetType() == Shape::RAY)
+ if (!this->GetSaveable())
return;
std::string p = prefix + " ";
Modified: code/gazebo/trunk/server/physics/MapShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/MapShape.cc 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/physics/MapShape.cc 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -151,6 +151,7 @@
// Create the box geometry
Geom *geom =
this->physicsEngine->CreateGeom("box",this->parent->GetBody());
+ geom->SetSaveable(false);
XMLConfig *boxConfig = new XMLConfig();
Modified: code/gazebo/trunk/server/physics/RayShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/RayShape.cc 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/physics/RayShape.cc 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -53,6 +53,8 @@
this->contactLen = DBL_MAX;
this->contactRetro = 0.0;
this->contactFiducial = -1;
+
+ this->parent->SetSaveable(false);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/TrimeshShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshShape.cc 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/physics/TrimeshShape.cc 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -111,6 +111,7 @@
Geom *newGeom = this->physicsEngine->CreateGeom( "trimesh",
this->parent->GetBody() );
+ newGeom->SetSaveable(false);
newGeom->Load( config->GetRootNode()->GetChild() );
delete config;
Modified: code/gazebo/trunk/server/rendering/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/rendering/CMakeLists.txt 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/rendering/CMakeLists.txt 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -20,6 +20,7 @@
OgreHeightmap.cc
Color.cc
Material.cc
+ Light.cc
)
set (headers OgreMovableText.hh
@@ -37,6 +38,7 @@
OgreHeightmap.hh
Color.hh
Material.hh
+ Light.hh
)
add_library(gazebo_rendering SHARED ${sources})
Added: code/gazebo/trunk/server/rendering/Light.cc
===================================================================
--- code/gazebo/trunk/server/rendering/Light.cc (rev 0)
+++ code/gazebo/trunk/server/rendering/Light.cc 2009-11-17 02:23:15 UTC (rev
8414)
@@ -0,0 +1,235 @@
+#include <Ogre.h>
+
+#include "OgreDynamicLines.hh"
+#include "OgreVisual.hh"
+#include "OgreCreator.hh"
+#include "OgreAdaptor.hh"
+#include "XMLConfig.hh"
+#include "GazeboError.hh"
+#include "Global.hh"
+#include "GazeboMessage.hh"
+#include "Light.hh"
+
+using namespace gazebo;
+
+unsigned int Light::lightCounter = 0;
+
+////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+Light::Light(Entity *parent)
+ : Entity(parent)
+{
+ std::ostringstream stream;
+
+ stream << this->parent->GetName() << "_LIGHT" << this->lightCounter;
+ this->SetName(stream.str());
+
+ this->lightCounter++;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+Light::~Light()
+{
+ delete this->line;
+ delete this->visual;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Load the light
+void Light::Load(XMLConfigNode *node)
+{
+ Vector3 vec;
+ double range,constant,linear,quad;
+
+ try
+ {
+ this->light = OgreAdaptor::Instance()->sceneMgr->createLight(
+ this->GetName());
+ }
+ catch (Ogre::Exception e)
+ {
+ gzthrow("Ogre Error:" << e.getFullDescription() << "\n" << \
+ "Unable to create a light on " + this->parent->GetName());
+ }
+
+ // Set the light type
+ std::string lightType = node->GetString("type","point",0);
+ if (lightType == "point")
+ {
+ this->light->setType(Ogre::Light::LT_POINT);
+ }
+ else if (lightType == "directional")
+ {
+ this->light->setType(Ogre::Light::LT_DIRECTIONAL);
+ }
+ else if (lightType == "spot")
+ {
+ this->light->setType(Ogre::Light::LT_SPOTLIGHT);
+ }
+
+ // Set the diffuse color
+ vec = node->GetVector3("diffuseColor",Vector3(1.0, 1.0, 1.0));
+ this->light->setDiffuseColour(vec.x, vec.y, vec.z);
+
+ // Sets the specular color
+ vec = node->GetVector3("specularColor",Vector3(1.0, 1.0, 1.0));
+ this->light->setSpecularColour(vec.x, vec.y, vec.z);
+
+ // Set the direction which the light points
+ vec = node->GetVector3("direction", Vector3(0.0, 0.0, -1.0));
+ vec.Normalize();
+ this->light->setDirection(vec.x, vec.y, vec.z);
+
+ // Absolute range of light in world coordinates
+ range = node->GetDouble("range",0,100);
+
+ // Constant factor. 1.0 means never attenuate, 0.0 is complete attenuation
+ constant = node->GetTupleDouble("attenuation",0,1.0);
+ if (constant < 0)
+ constant = 0;
+ else if (constant > 1.0)
+ constant = 1.0;
+
+ // Linear factor. 1 means attenuate evenly over the distance
+ linear = node->GetTupleDouble("attenuation",1,0);
+ if (linear < 0)
+ linear = 0;
+ else if (linear > 1.0)
+ linear = 1.0;
+
+ // Quadartic factor.adds a curvature to the attenuation formula
+ quad = node->GetTupleDouble("attenuation",2,0);
+
+ // Set attenuation
+ this->light->setAttenuation(range, constant, linear, quad);
+
+ // TODO: More options for Spot lights, etc.
+ // options for spotlights
+ if (lightType == "spot")
+ {
+ vec = node->GetVector3("spotCone", Vector3(5.0, 10.0, 1.0));
+ this->light->setSpotlightRange(Ogre::Radian(Ogre::Degree(vec.x)),
+ Ogre::Radian(Ogre::Degree(vec.y)), vec.z);
+ }
+
+ this->light->setCastShadows(node->GetBool("castShadows",true,0));
+
+ this->parent->GetVisualNode()->AttachObject(light);
+
+ this->CreateVisual();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Save a light
+void Light::Save(const std::string &prefix, std::ostream &stream)
+{
+ std::string type;
+
+ if (this->light->getType() == Ogre::Light::LT_POINT)
+ type = "point";
+ else if (this->light->getType() == Ogre::Light::LT_DIRECTIONAL)
+ type = "directional";
+ else
+ type = "spot";
+
+ Ogre::ColourValue diffuseColor = this->light->getDiffuseColour();
+ Ogre::ColourValue specularColor = this->light->getDiffuseColour();
+ Ogre::Vector3 dir = this->light->getDirection();
+ Ogre::Real attRange = this->light->getAttenuationRange();
+ Ogre::Real attConst = this->light->getAttenuationConstant();
+ Ogre::Real attLinear = this->light->getAttenuationLinear();
+ Ogre::Real attQuadric = this->light->getAttenuationQuadric();
+
+ stream << prefix << "<light>\n";
+ stream << prefix << " <type>" << type << "</type>\n";
+
+ stream << prefix << " <direction>" << dir.x << " " << dir.y << " "
+ << dir.z << "</direction>\n";
+
+ stream << prefix << " <diffuseColor>" << diffuseColor.r << " "
+ << diffuseColor.g << " " << diffuseColor.b << " " << diffuseColor.a
+ << "</diffuseColor>\n";
+
+ stream << prefix << " <specularColor>" << specularColor.r << " "
+ << specularColor.g << " " << specularColor.b << " "
+ << specularColor.a << "</specularColor>\n";
+
+ stream << prefix << " <range>"<< attRange << "</range>\n";
+
+ stream << prefix << " <attenuation>" << " " << attConst
+ << " " << attLinear << " " << attQuadric << "</attenuation>\n";
+ stream << prefix << "</light>\n";
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Helper node to create a visual representation of the light
+void Light::CreateVisual()
+{
+ this->visual = new OgreVisual(this->parent->GetVisualNode());
+
+ // The lines draw a visualization of the camera
+ this->line = OgreCreator::Instance()->CreateDynamicLine(
+ OgreDynamicRenderable::OT_LINE_LIST);
+
+ float s=0.1;
+ this->line->AddPoint(Vector3(-s,-s,0));
+ this->line->AddPoint(Vector3(-s,s,0));
+
+ this->line->AddPoint(Vector3(-s,s,0));
+ this->line->AddPoint(Vector3(s,s,0));
+
+ this->line->AddPoint(Vector3(s,s,0));
+ this->line->AddPoint(Vector3(s,-s,0));
+
+ this->line->AddPoint(Vector3(s,-s,0));
+ this->line->AddPoint(Vector3(-s,-s,0));
+
+
+
+ this->line->AddPoint(Vector3(-s,-s,0));
+ this->line->AddPoint(Vector3(0,0,s));
+
+ this->line->AddPoint(Vector3(-s,s,0));
+ this->line->AddPoint(Vector3(0,0,s));
+
+ this->line->AddPoint(Vector3(s,s,0));
+ this->line->AddPoint(Vector3(0,0,s));
+
+ this->line->AddPoint(Vector3(s,-s,0));
+ this->line->AddPoint(Vector3(0,0,s));
+
+
+
+ this->line->AddPoint(Vector3(-s,-s,0));
+ this->line->AddPoint(Vector3(0,0,-s));
+
+ this->line->AddPoint(Vector3(-s,s,0));
+ this->line->AddPoint(Vector3(0,0,-s));
+
+ this->line->AddPoint(Vector3(s,s,0));
+ this->line->AddPoint(Vector3(0,0,-s));
+
+ this->line->AddPoint(Vector3(s,-s,0));
+ this->line->AddPoint(Vector3(0,0,-s));
+
+ this->line->setMaterial("Gazebo/WhiteEmissive");
+ this->line->setVisibilityFlags(GZ_LASER_CAMERA);
+
+ this->visual->AttachObject(line);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set whether this entity has been selected by the user through the gui
+bool Light::SetSelected( bool s )
+{
+ Entity::SetSelected(s);
+
+ if (s)
+ this->line->setMaterial("Gazebo/PurpleEmissive");
+ else
+ this->line->setMaterial("Gazebo/WhiteEmissive");
+}
+
+
Added: code/gazebo/trunk/server/rendering/Light.hh
===================================================================
--- code/gazebo/trunk/server/rendering/Light.hh (rev 0)
+++ code/gazebo/trunk/server/rendering/Light.hh 2009-11-17 02:23:15 UTC (rev
8414)
@@ -0,0 +1,52 @@
+#ifndef LIGHT_HH
+#define LIGHT_HH
+
+#include <string>
+#include <iostream>
+
+#include "Entity.hh"
+
+namespace Ogre
+{
+ class Light;
+}
+
+namespace gazebo
+{
+ class OgreVisual;
+ class XMLConfigNode;
+ class OgreDynamicLines;
+
+ /// \brief Wrapper around an ogre light source
+ class Light : public Entity
+ {
+ /// \brief Constructor
+ public: Light(Entity *parent);
+
+ /// \brief Destructor
+ public: virtual ~Light();
+
+ /// \brief Load the light
+ public: void Load(XMLConfigNode *node);
+
+ /// \brief Save a light
+ public: void Save(const std::string &prefix, std::ostream &stream);
+
+ /// \brief Set whether this entity has been selected by the user through
+ /// the gui
+ public: virtual bool SetSelected( bool s );
+
+ /// \private Helper node to create a visual representation of the light
+ private: void CreateVisual();
+
+ /// The OGRE light source
+ private: Ogre::Light *light;
+
+ /// Parent of the light
+ private: OgreVisual *visual;
+ private: OgreDynamicLines *line;
+
+ private: static unsigned int lightCounter;
+ };
+}
+#endif
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -75,6 +75,8 @@
this->shadowTechniqueP = new ParamT<std::string>("shadowTechnique",
"stencilModulative", 0);
this->drawGridP = new ParamT<bool>("grid", true, 0);
this->skyMaterialP = new ParamT<std::string>("material","",1);
+ this->shadowIndexSizeP = new ParamT<int>("shadowIndexSize",32768, 0);
+
Param::End();
}
@@ -199,10 +201,6 @@
// Load Resources
Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
- Param::Begin(&this->parameters);
- this->shadowIndexSizeP = new
ParamT<int>("shadowIndexSize",this->sceneMgr->getShadowIndexBufferSize(), 0);
- Param::End();
-
this->ambientP->Load(node);
this->shadowTextureSizeP->Load(node);
this->shadowIndexSizeP->Load(node);
@@ -293,6 +291,9 @@
stream << prefix << " " << *(this->skyMaterialP) << "\n";
stream << prefix << " </sky>\n";
OgreCreator::SaveFog(prefix, stream);
+ stream << prefix << " " << *(this->shadowTechniqueP) << "\n";
+ stream << prefix << " " << *(this->shadowTextureSizeP) << "\n";
+ stream << prefix << " " << *(this->shadowIndexSizeP) << "\n";
stream << prefix << "</rendering:ogre>\n";
}
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -157,7 +157,6 @@
private: ParamT<std::string> *shadowTechniqueP;
private: ParamT<int> *shadowTextureSizeP;
private: ParamT<int> *shadowIndexSizeP;
- private: ParamT<double> *updateRateP;
private: ParamT<bool> *drawGridP;
private: ParamT<std::string> *skyMaterialP;
private: std::vector<Param*> parameters;
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -49,7 +49,6 @@
using namespace gazebo;
-unsigned int OgreCreator::lightCounter = 0;
unsigned int OgreCreator::windowCounter = 0;
////////////////////////////////////////////////////////////////////////////////
@@ -111,11 +110,19 @@
/// Create a light source and attach it to the visual node
/// Note that the properties here are not modified afterwards and thus,
/// we don't need a Light class.
-std::string OgreCreator::CreateLight(XMLConfigNode *node, OgreVisual *parent)
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
+//std::string OgreCreator::CreateLight(XMLConfigNode *node, OgreVisual *parent)
+//{
+ /*if (!Simulator::Instance()->GetRenderEngineEnabled())
return std::string();
+ Light *light = new Light(parent);
+ light->Load(node);
+ this->lights.push_back(light);
+
+ return light->GetName();
+ */
+
+ /*
Vector3 vec;
double range,constant,linear,quad;
Ogre::Light *light;
@@ -200,64 +207,10 @@
parent->AttachObject(light);
return stream.str();
-}
+ */
+//}
-////////////////////////////////////////////////////////////////////////////////
-// Save a light's information in xml format
-void OgreCreator::SaveLight(const std::string &prefix,
- const std::string lightName, std::ostream &stream)
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
- Ogre::Light *light = NULL;
- std::string type;
-
- if (!OgreAdaptor::Instance()->sceneMgr->hasLight(lightName))
- {
- gzerr(0) << "Unknown light[" << lightName << "]\n";
- return;
- }
-
- light = OgreAdaptor::Instance()->sceneMgr->getLight(lightName);
-
- if (light->getType() == Ogre::Light::LT_POINT)
- type = "point";
- else if (light->getType() == Ogre::Light::LT_DIRECTIONAL)
- type = "directional";
- else
- type = "spot";
-
- Ogre::ColourValue diffuseColor = light->getDiffuseColour();
- Ogre::ColourValue specularColor = light->getDiffuseColour();
- Ogre::Vector3 dir = light->getDirection();
- Ogre::Real attRange = light->getAttenuationRange();
- Ogre::Real attConst = light->getAttenuationConstant();
- Ogre::Real attLinear = light->getAttenuationLinear();
- Ogre::Real attQuadric = light->getAttenuationQuadric();
-
- stream << prefix << "<light>\n";
- stream << prefix << " <type>" << type << "</type>\n";
-
- stream << prefix << " <direction>" << dir.x << " " << dir.y << " "
- << dir.z << "</direction>\n";
-
- stream << prefix << " <diffuseColor>" << diffuseColor.r << " "
- << diffuseColor.g << " " << diffuseColor.b << " " << diffuseColor.a
- << "</diffuseColor>\n";
-
- stream << prefix << " <specularColor>" << specularColor.r << " "
- << specularColor.g << " " << specularColor.b << " "
- << specularColor.a << "</specularColor>\n";
-
- stream << prefix << " <range>"<< attRange << "</range>\n";
-
- stream << prefix << " <attenuation>" << " " << attConst
- << " " << attLinear << " " << attQuadric << "</attenuation>\n";
- stream << prefix << "</light>\n";
-}
-
-
////////////////////////////////////////////////////////////////////////////////
// Helper function to create a camera
Ogre::Camera *OgreCreator::CreateCamera(const std::string &name,
Modified: code/gazebo/trunk/server/rendering/OgreCreator.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.hh 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/rendering/OgreCreator.hh 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -78,12 +78,8 @@
/// \brief Create a light source
/// \return The name of the light source
- public: static std::string CreateLight(XMLConfigNode *node, OgreVisual
*parent);
+ //public: static std::string CreateLight(XMLConfigNode *node, OgreVisual
*parent);
- /// \brief Save a light source info in xml format
- public: static void SaveLight(const std::string &prefix,
- const std::string lightName, std::ostream &stream);
-
/// \brief Helper function to create a camera
public: static Ogre::Camera *CreateCamera(const std::string &name,
double nearClip, double farClip, double hfov,
@@ -157,7 +153,6 @@
/// \brief Update all the entities
public: void Update();
- private: static unsigned int lightCounter;
private: static unsigned int windowCounter;
// List of all the lines created
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -46,6 +46,7 @@
OgreVisual::OgreVisual(OgreVisual *node, Entity *_owner)
: Common()
{
+ bool isStatic = false;
Ogre::SceneNode *pnode = NULL;
this->owner = _owner;
@@ -57,20 +58,26 @@
pnode = node->GetSceneNode();
}
- this->ConstructorHelper(pnode);
+ if (this->owner)
+ {
+ this->SetName(this->owner->GetName() + "_visual");
+ isStatic = this->owner->IsStatic();
+ }
+
+ this->ConstructorHelper(pnode, isStatic);
}
////////////////////////////////////////////////////////////////////////////////
/// Constructor
-OgreVisual::OgreVisual (Ogre::SceneNode *node)
+OgreVisual::OgreVisual (Ogre::SceneNode *node, bool isStatic)
{
this->owner = NULL;
- this->ConstructorHelper(node);
+ this->ConstructorHelper(node, isStatic);
}
////////////////////////////////////////////////////////////////////////////////
// Helper for the contructor
-void OgreVisual::ConstructorHelper(Ogre::SceneNode *node)
+void OgreVisual::ConstructorHelper(Ogre::SceneNode *node, bool isStatic)
{
std::ostringstream stream;
this->mutex = new boost::recursive_mutex();
@@ -98,7 +105,6 @@
this->sizeP = new ParamT<Vector3>("size", Vector3(1,1,1), 0);
Param::End();
- this->staticGeometry = NULL;
this->boundingBoxNode = NULL;
this->ignorePoseUpdates = false;
@@ -115,6 +121,14 @@
// Create the scene node
this->sceneNode = this->parentNode->createChildSceneNode( stream.str() );
}
+
+ this->isStatic = isStatic;
+
+ if (this->isStatic)
+ this->staticGeom = this->sceneNode->getCreator()->createStaticGeometry(
+ this->GetName() + "_staticgeom");
+ else
+ this->staticGeom = NULL;
}
@@ -281,6 +295,7 @@
return;
this->sceneNode->attachObject(obj);
+
obj->setUserObject( this );
}
@@ -333,17 +348,17 @@
if (!Simulator::Instance()->GetRenderEngineEnabled())
return;
- if (!this->staticGeometry)
- this->staticGeometry =
OgreAdaptor::Instance()->sceneMgr->createStaticGeometry(this->sceneNode->getName()
+ "_Static");
+ if (!this->staticGeom)
+ this->staticGeom =
OgreAdaptor::Instance()->sceneMgr->createStaticGeometry(this->sceneNode->getName()
+ "_Static");
// Detach the scene node from the parent. Prevents double rendering
this->sceneNode->getParent()->removeChild(this->sceneNode);
// Add the scene node to the static geometry
- this->staticGeometry->addSceneNode(this->sceneNode);
+ this->staticGeom->addSceneNode(this->sceneNode);
// Build the static geometry
- this->staticGeometry->build();
+ this->staticGeom->build();
}
////////////////////////////////////////////////////////////////////////////////
@@ -369,7 +384,7 @@
obj =
(Ogre::MovableObject*)(this->sceneNode->getCreator()->createEntity(stream.str(),
meshName));
- this->sceneNode->attachObject((Ogre::Entity*)obj);
+ this->AttachObject( obj );
}
////////////////////////////////////////////////////////////////////////////////
@@ -382,11 +397,11 @@
if (!Simulator::Instance()->GetRenderEngineEnabled())
return;
-
Ogre::Vector3 vscale;
vscale.x=scale.x;
vscale.y=scale.y;
vscale.z=scale.z;
+
this->sceneNode->setScale(vscale);
}
@@ -620,6 +635,9 @@
Ogre::MovableObject *obj = this->sceneNode->getAttachedObject(i);
obj->setCastShadows(shadows);
}
+
+ if (this->IsStatic())
+ this->staticGeom->setCastShadows(shadows);
}
////////////////////////////////////////////////////////////////////////////////
@@ -885,3 +903,12 @@
{
this->ignorePoseUpdates = value;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Return true if the visual is a static geometry
+bool OgreVisual::IsStatic() const
+{
+ return this->isStatic;
+}
+
+
Modified: code/gazebo/trunk/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.hh 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/rendering/OgreVisual.hh 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -54,10 +54,10 @@
public: OgreVisual (OgreVisual *node, Entity *owner = NULL);
/// \brief Constructor
- public: OgreVisual (Ogre::SceneNode *node);
+ public: OgreVisual (Ogre::SceneNode *node, bool isStatic=false);
/// \brief Helper for the contructor
- private: void ConstructorHelper(Ogre::SceneNode *node);
+ private: void ConstructorHelper(Ogre::SceneNode *node, bool
isStatic=false);
/// \brief Destructor
public: virtual ~OgreVisual();
@@ -151,6 +151,9 @@
public: bool IsDirty() const {return dirty;}
public: void SetToDirtyPose() {SetPose(dirtyPose); dirty=false;}
+ /// \brief Return true if the visual is a static geometry
+ public: bool IsStatic() const;
+
private: Ogre::MaterialPtr origMaterial;
private: Ogre::MaterialPtr myMaterial;
private: Ogre::SceneBlendType sceneBlendType;
@@ -161,8 +164,6 @@
private: float transparency;
- private: Ogre::StaticGeometry *staticGeometry;
-
private: static unsigned int visualCounter;
private: Entity *owner;
@@ -181,6 +182,9 @@
private: bool ignorePoseUpdates;
private: bool dirty;
private: Pose3d dirtyPose;
+
+ private: bool isStatic;
+ private: Ogre::StaticGeometry *staticGeom;
};
}
Modified: code/gazebo/trunk/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/UserCamera.cc 2009-11-15 22:34:05 UTC
(rev 8413)
+++ code/gazebo/trunk/server/rendering/UserCamera.cc 2009-11-17 02:23:15 UTC
(rev 8414)
@@ -194,7 +194,6 @@
this->saveCount++;
}
-
}
Modified: code/gazebo/trunk/worlds/willowgarage.world
===================================================================
--- code/gazebo/trunk/worlds/willowgarage.world 2009-11-15 22:34:05 UTC (rev
8413)
+++ code/gazebo/trunk/worlds/willowgarage.world 2009-11-17 02:23:15 UTC (rev
8414)
@@ -1,163 +1,329 @@
<?xml version="1.0"?>
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";>
-<gazebo:world
- xmlns:xi="http://www.w3.org/2001/XInclude";
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
-
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
-
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
-
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable";
-
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
-
<verbosity>1</verbosity>
+ <logData>0</logData>
<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.80665</gravity>
- <cfm>10e-8</cfm>
+ <updateRate>0</updateRate>
+ <cfm>1e-07</cfm>
<erp>0.3</erp>
- <quickStep>true</quickStep>
+ <quickStep>1</quickStep>
<quickStepIters>10</quickStepIters>
<quickStepW>1.3</quickStepW>
- <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactMaxCorrectingVel>100</contactMaxCorrectingVel>
<contactSurfaceLayer>0.001</contactSurfaceLayer>
-
- <updateRate>0</updateRate>
</physics:ode>
- <rendering:gui>
- <type>fltk</type>
- <size>800 600</size>
- <pos>0 0</pos>
- <frames>
- <row height="100%">
- <camera width="100%">
- <xyz>2.94 -2.44 7.24</xyz>
- <rpy>0 31.1 47.20</rpy>
- </camera>
- </row>
- </frames>
- </rendering:gui>
-
<rendering:ogre>
- <ambient>0.1 0.1 0.1 1.0</ambient>
+ <ambient>0.1 0.1 0.1 1</ambient>
+ <grid>0</grid>
<sky>
<material>Gazebo/Grey</material>
</sky>
- <grid>false</grid>
+ <fog>
+ <type>none</type>
+ <color>1 1 1 1</color>
+ <linearStart>0</linearStart>
+ <linearEnd>0</linearEnd>
+ <density>0</density>
+ </fog>
<shadowTechnique>stencilAdditive</shadowTechnique>
+ <shadowTextureSize>512</shadowTextureSize>
<shadowIndexSize>100000</shadowIndexSize>
</rendering:ogre>
+ <rendering:gui>
+ <size>2457 1432</size>
+ <pos>5 49</pos>
+ </rendering:gui>
+
<model:physical name="plane1_model">
<xyz>0 0 0</xyz>
- <rpy>0 0 0</rpy>
- <static>true</static>
+ <rpy>0 -0 0</rpy>
+ <enableGravity>1</enableGravity>
+ <enableFriction>1</enableFriction>
+ <collide>all</collide>
+ <static>1</static>
- <body:plane name="plane1_body">
+ <body name="plane1_body">
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+
<geom:plane name="plane1_geom">
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
<normal>0 0 1</normal>
<size>2000 2000</size>
<segments>10 10</segments>
<uvTile>1000 1000</uvTile>
<material>Gazebo/GrayGrid</material>
+ <castShadows>0</castShadows>
+ <mass>0.001</mass>
+ <laserFiducialId>-1</laserFiducialId>
+ <laserRetro>-1</laserRetro>
</geom:plane>
- </body:plane>
+ </body>
</model:physical>
<model:physical name="wg_model">
- <xyz>-8 -4 0.0</xyz>
- <static>true</static>
+ <xyz>-8 -4 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <enableGravity>1</enableGravity>
+ <enableFriction>1</enableFriction>
+ <collide>all</collide>
+ <static>1</static>
- <body:trimesh name="wg_body">
+ <body name="wg_body">
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+
<geom:trimesh name="wg_geom">
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <mesh>willowgarage.dae</mesh>
<scale>0.0254 0.0254 0.0254</scale>
- <mesh>willowgarage.dae</mesh>
-
+ <mass>0.001</mass>
+ <laserFiducialId>-1</laserFiducialId>
+ <laserRetro>-1</laserRetro>
<visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <mesh>willowgarage.dae</mesh>
+ <material>none</material>
+ <castShadows>1</castShadows>
<scale>0.0254 0.0254 0.0254</scale>
- <mesh>willowgarage.dae</mesh>
</visual>
</geom:trimesh>
- </body:trimesh>
- </model:physical>
- <!--
- <model:physical name="pr2_model">
- <xyz>0 0 0</xyz>
- <rpy>0.0 0.0 0.0</rpy>
- <include embedded="true">
- <xi:include href="models/pr2.model" />
- </include>
- <body:box name="camera_body">
- <xyz>-0.5 0 1.5</xyz>
- <rpy>0 30 0</rpy>
- <sensor:camera name="follow_camera">
- <imageSize>640.0 480.0</imageSize>
- <imageFormat>L8</imageFormat>
- <hfov>90.0</hfov>
- <nearClip>0.1</nearClip>
- <farClip>100</farClip>
- <updateRate>20.0</updateRate>
- </sensor:camera>
- </body:box>
+
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+ </body>
</model:physical>
- -->
-
- <!-- White Point light -->
<model:renderable name="point_white2">
- <xyz>10 10 50</xyz>
- <static>true</static>
-
+ <xyz>23.0083 19.1032 41.0918</xyz>
+ <rpy>0 -0 0</rpy>
+ <enableGravity>1</enableGravity>
+ <enableFriction>1</enableFriction>
+ <collide>all</collide>
<light>
- <castShadows>true</castShadows>
<type>point</type>
- <diffuseColor>1.0 1.0 1.0</diffuseColor>
- <specularColor>0 0 0</specularColor>
+ <direction>0 0 -1</direction>
+ <diffuseColor>1 1 1 1</diffuseColor>
+ <specularColor>1 1 1 1</specularColor>
<range>100</range>
-
- <attenuation>0 0.01 0.001</attenuation>
+ <attenuation> 0 0.01 0.001</attenuation>
</light>
</model:renderable>
-
- <!-- White Point light -->
+
<model:renderable name="point_white3">
- <xyz>00 00 30</xyz>
- <static>true</static>
-
+ <xyz>0.014406 1.98417 17.0365</xyz>
+ <rpy>0 -0 0</rpy>
+ <enableGravity>1</enableGravity>
+ <enableFriction>1</enableFriction>
+ <collide>all</collide>
<light>
- <castShadows>false</castShadows>
<type>point</type>
- <diffuseColor>0.9 0.9 0.9</diffuseColor>
- <specularColor>.0 .0 .0</specularColor>
+ <direction>0 0 -1</direction>
+ <diffuseColor>0.9 0.9 0.9 1</diffuseColor>
+ <specularColor>0.9 0.9 0.9 1</specularColor>
<range>90</range>
- <attenuation>0.0 0.1 0.001</attenuation>
+ <attenuation> 0 0.1 0.001</attenuation>
</light>
</model:renderable>
- <!-- White Point light -->
- <!--<model:renderable name="point_white4">
- <xyz>10 5 50</xyz>
- <static>true</static>
- <light>
- <castShadows>false</castShadows>
- <type>point</type>
- <diffuseColor>0.4 0.4 0.4</diffuseColor>
- <specularColor>.1 .1 .1</specularColor>
- <range>200</range>
-
- <attenuation>0.1 0.01 0.0001</attenuation>
- </light>
- </model:renderable>
- -->
-
</gazebo:world>
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