Revision: 8420
http://playerstage.svn.sourceforge.net/playerstage/?rev=8420&view=rev
Author: natepak
Date: 2009-11-18 21:52:40 +0000 (Wed, 18 Nov 2009)
Log Message:
-----------
Added in the ability to track a model with a user camera
Modified Paths:
--------------
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/gui/GLFrame.cc
code/gazebo/trunk/server/gui/GLFrame.hh
code/gazebo/trunk/server/rendering/OgreCamera.cc
code/gazebo/trunk/server/rendering/OgreCamera.hh
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/server/rendering/OgreVisual.hh
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2009-11-18 20:14:57 UTC (rev 8419)
+++ code/gazebo/trunk/server/Entity.cc 2009-11-18 21:52:40 UTC (rev 8420)
@@ -321,7 +321,7 @@
// Handle a change of pose
void Entity::PoseChange(bool notify)
{
- if (Simulator::Instance()->GetState() == Simulator::RUN)
+ if (Simulator::Instance()->GetState() == Simulator::RUN || !this->IsStatic())
this->visualNode->SetDirty(true, this->relativePose);
else
this->visualNode->SetPose(this->relativePose);
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-11-18 20:14:57 UTC (rev 8419)
+++ code/gazebo/trunk/server/World.cc 2009-11-18 21:52:40 UTC (rev 8420)
@@ -421,6 +421,7 @@
if (node->GetNSPrefix() == "model")
{
model = this->LoadModel(node, parent, removeDuplicate);
+ this->addEntitySignal(model);
}
}
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2009-11-18 20:14:57 UTC (rev 8419)
+++ code/gazebo/trunk/server/World.hh 2009-11-18 21:52:40 UTC (rev 8420)
@@ -30,6 +30,7 @@
#include <iostream>
#include <vector>
#include <boost/tuple/tuple.hpp>
+#include <boost/signal.hpp>
#ifdef USE_THREADPOOL
#include "boost/threadpool.hpp"
@@ -208,6 +209,13 @@
/// \brief Update the simulation iface
public: void UpdateSimulationIface();
+ /// \brief Connect a boost::slot the the add entity signal
+ public: template<typename T>
+ void ConnectAddEntitySignal( T subscriber )
+ {
+ addEntitySignal.connect(subscriber);
+ }
+
/// \brif Get the names of interfaces defined in the tree of a model
private: void GetInterfaceNames(Entity* m, std::vector<std::string>& list);
@@ -250,6 +258,7 @@
private: friend class DestroyerT<World>;
private: friend class SingletonT<World>;
+ private: boost::signal<void (Entity*)> addEntitySignal;
};
Modified: code/gazebo/trunk/server/gui/GLFrame.cc
===================================================================
--- code/gazebo/trunk/server/gui/GLFrame.cc 2009-11-18 20:14:57 UTC (rev
8419)
+++ code/gazebo/trunk/server/gui/GLFrame.cc 2009-11-18 21:52:40 UTC (rev
8420)
@@ -26,6 +26,8 @@
#include <boost/bind.hpp>
+#include "World.hh"
+#include "Model.hh"
#include "XMLConfig.hh"
#include "CameraManager.hh"
#include "Global.hh"
@@ -72,6 +74,15 @@
this->splitChoice->value(0);
this->splitChoice->color(BG_COLOR);
+ this->trackChoice = new Fl_Choice(
+ this->splitChoice->x() + this->splitChoice->w()+2,
+ this->splitChoice->y(), 150, 26);
+ this->trackChoice->add("Track Model");
+ this->trackChoice->mode(0, FL_MENU_DIVIDER);
+ this->trackChoice->add("None","", &gazebo::GLFrame::TrackCB, this);
+ this->trackChoice->value(0);
+ this->trackChoice->color(BG_COLOR);
+
this->headerBar->end();
this->headerBar->resizable(NULL);
@@ -179,6 +190,8 @@
CameraManager::Instance()->ConnectAddCameraSignal(
boost::bind(&GLFrame::CameraAddedSlot, this, _1) );
+ World::Instance()->ConnectAddEntitySignal(
boost::bind(&GLFrame::EntityAddedSlot, this, _1) );
+
// Add all the current cameras
for (unsigned int i=0; i < CameraManager::Instance()->GetNumCameras(); i++)
{
@@ -221,6 +234,14 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Boost slot, called when a new entity is added.
+void GLFrame::EntityAddedSlot(Entity *newEntity)
+{
+ this->trackChoice->add(newEntity->GetName().c_str(), "",
&gazebo::GLFrame::TrackCB, this);
+ this->trackChoice->redraw();
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Split the current window
void GLFrame::SplitCB(Fl_Widget *widget, void *data)
{
@@ -272,3 +293,20 @@
{
return this->glWindow;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Switch view callback
+void GLFrame::TrackCB(Fl_Widget *widget, void *data)
+{
+ GLFrame *frame = reinterpret_cast<GLFrame *>(data);
+ Fl_Choice *choice = dynamic_cast<Fl_Choice *>(widget);
+
+ if (std::string(choice->text()) == "None" ||
+ std::string(choice->text()) == "Track Model")
+ frame->glWindow->GetCamera()->TrackModel( NULL );
+ else
+ {
+ Model *model = World::Instance()->GetModelByName(choice->text() );
+ frame->glWindow->GetCamera()->TrackModel( model );
+ }
+}
Modified: code/gazebo/trunk/server/gui/GLFrame.hh
===================================================================
--- code/gazebo/trunk/server/gui/GLFrame.hh 2009-11-18 20:14:57 UTC (rev
8419)
+++ code/gazebo/trunk/server/gui/GLFrame.hh 2009-11-18 21:52:40 UTC (rev
8420)
@@ -41,6 +41,7 @@
class GLWindow;
class OgreCamera;
class XMLConfigNode;
+ class Entity;
class GLFrame : public Fl_Group
{
@@ -74,12 +75,18 @@
/// \brief Boost slot, called when a new camera is added.
public: void CameraAddedSlot(OgreCamera *newCamera);
+ /// \brief Boost slot, called when a new entity is added.
+ public: void EntityAddedSlot(Entity *newEntity);
+
/// \brief Split frame callback
private: static void SplitCB(Fl_Widget *widget, void *data);
/// \brief Switch view callback
private: static void ViewCB(Fl_Widget *widget, void *data);
+ /// \brief Switch view callback
+ private: static void TrackCB(Fl_Widget *widget, void *data);
+
/// Pointer to the actual render window
private: GLWindow *glWindow;
@@ -95,6 +102,9 @@
/// Split window chooser
private: Fl_Choice *splitChoice;
+ /// Choose to have the camera track an entity
+ private: Fl_Choice *trackChoice;
+
private: Fl_Output *outputXYZ;
private: Fl_Output *outputRPY;
Modified: code/gazebo/trunk/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-11-18 20:14:57 UTC
(rev 8419)
+++ code/gazebo/trunk/server/rendering/OgreCamera.cc 2009-11-18 21:52:40 UTC
(rev 8420)
@@ -37,6 +37,8 @@
#include "OgreCreator.hh"
#include "XMLConfig.hh"
#include "Simulator.hh"
+#include "Model.hh"
+#include "Body.hh"
#include "OgreAdaptor.hh"
#include "CameraManager.hh"
@@ -165,6 +167,7 @@
}
this->lastUpdate = Simulator::Instance()->GetSimTime();
+
}
//////////////////////////////////////////////////////////////////////////////
@@ -201,6 +204,8 @@
this->saveCount = 0;
OgreAdaptor::Instance()->RegisterCamera(this);
+
+ this->origParentNode = (Ogre::SceneNode*)this->sceneNode->getParent();
}
//////////////////////////////////////////////////////////////////////////////
@@ -692,3 +697,20 @@
this->saveCount++;
}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Set the camera to track an entity
+void OgreCamera::TrackModel( Model *model )
+{
+ this->sceneNode->getParent()->removeChild(this->sceneNode);
+
+ if (model)
+ {
+ Body *b = model->GetCanonicalBody();
+ b->GetVisualNode()->GetSceneNode()->addChild(this->sceneNode);
+ }
+ else
+ {
+ this->origParentNode->addChild(this->sceneNode);
+ }
+}
Modified: code/gazebo/trunk/server/rendering/OgreCamera.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCamera.hh 2009-11-18 20:14:57 UTC
(rev 8419)
+++ code/gazebo/trunk/server/rendering/OgreCamera.hh 2009-11-18 21:52:40 UTC
(rev 8420)
@@ -47,6 +47,7 @@
namespace gazebo
{
class XMLConfigNode;
+ class Model;
/// \addtogroup gazebo_rendering
/// \brief Basic camera
@@ -211,6 +212,9 @@
/// \brief Set the camera's name
public: void SetCamName( const std::string &name );
+ /// \brief Set the camera to track an entity
+ public: void TrackModel( Model *model );
+
// Save the camera frame
protected: virtual void SaveFrame();
@@ -222,6 +226,7 @@
protected: unsigned int textureWidth, textureHeight;
protected: Ogre::Camera *camera;
+ protected: Ogre::SceneNode *origParentNode;
protected: Ogre::SceneNode *sceneNode;
protected: Ogre::SceneNode *pitchNode;
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-18 20:14:57 UTC
(rev 8419)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-18 21:52:40 UTC
(rev 8420)
@@ -931,3 +931,16 @@
}
+////////////////////////////////////////////////////////////////////////////////
+/// Set one visual to track/follow another
+void OgreVisual::EnableTrackVisual( OgreVisual *vis )
+{
+ this->sceneNode->setAutoTracking(true, vis->GetSceneNode() );
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Disable tracking of a visual
+void OgreVisual::DisableTrackVisual()
+{
+ this->sceneNode->setAutoTracking(false);
+}
Modified: code/gazebo/trunk/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.hh 2009-11-18 20:14:57 UTC
(rev 8419)
+++ code/gazebo/trunk/server/rendering/OgreVisual.hh 2009-11-18 21:52:40 UTC
(rev 8420)
@@ -154,6 +154,12 @@
/// \brief Return true if the visual is a static geometry
public: bool IsStatic() const;
+ /// \brief Set one visual to track/follow another
+ public: void EnableTrackVisual( OgreVisual *vis );
+
+ /// \brief Disable tracking of a visual
+ public: void DisableTrackVisual();
+
private: Ogre::MaterialPtr origMaterial;
private: Ogre::MaterialPtr myMaterial;
private: Ogre::SceneBlendType sceneBlendType;
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