Revision: 8882
http://playerstage.svn.sourceforge.net/playerstage/?rev=8882&view=rev
Author: hsujohnhsu
Date: 2010-09-07 22:18:07 +0000 (Tue, 07 Sep 2010)
Log Message:
-----------
merging from trunk
Modified Paths:
--------------
code/gazebo/branches/mpi/server/Plugin.hh
code/gazebo/branches/mpi/server/Quatern.cc
code/gazebo/branches/mpi/server/physics/PhysicsEngine.cc
code/gazebo/branches/mpi/server/physics/ode/ODEJoint.cc
code/gazebo/branches/mpi/server/rendering/Light.cc
code/gazebo/branches/mpi/server/rendering/OgreDynamicLines.cc
code/gazebo/branches/mpi/server/rendering/OgreDynamicRenderable.cc
code/gazebo/branches/mpi/worlds/models/pioneer2dx.model
Property Changed:
----------------
code/gazebo/branches/mpi/
code/gazebo/branches/mpi/Media/models/pioneer2at/
code/gazebo/branches/mpi/Media/models/pioneer2at/Cylinder.012.mesh.xml
code/gazebo/branches/mpi/Media/models/pioneer2at/OgreXMLConverter.log
code/gazebo/branches/mpi/Media/models/pioneer2at/Scene.material
code/gazebo/branches/mpi/Media/models/pioneer2at/chassis.mesh
code/gazebo/branches/mpi/Media/models/pioneer2at/chassis_top.mesh
code/gazebo/branches/mpi/Media/models/pioneer2at/hub.mesh
code/gazebo/branches/mpi/Media/models/pioneer2at/pioneer3at.blend
code/gazebo/branches/mpi/Media/models/pioneer2at/sonar.mesh
code/gazebo/branches/mpi/Media/models/pioneer2at/sonarbank.mesh
code/gazebo/branches/mpi/Media/models/pioneer2at/tire.mesh
code/gazebo/branches/mpi/Media/models/pioneer2at/wheel.mesh
code/gazebo/branches/mpi/Media/models/pioneer2dx/
code/gazebo/branches/mpi/Media/models/pioneer2dx/Scene.material
code/gazebo/branches/mpi/Media/models/pioneer2dx/chassis.mesh
code/gazebo/branches/mpi/Media/models/pioneer2dx/chassis_top.mesh
code/gazebo/branches/mpi/Media/models/pioneer2dx/hub.mesh
code/gazebo/branches/mpi/Media/models/pioneer2dx/pioneer3dx.blend
code/gazebo/branches/mpi/Media/models/pioneer2dx/sonar.mesh
code/gazebo/branches/mpi/Media/models/pioneer2dx/sonarbank.mesh
code/gazebo/branches/mpi/Media/models/pioneer2dx/tire.mesh
code/gazebo/branches/mpi/Media/models/pioneer2dx/wheel.mesh
code/gazebo/branches/mpi/server/gui/Sidebar.cc
code/gazebo/branches/mpi/server/gui/Sidebar.hh
code/gazebo/branches/mpi/server/physics/HeightmapShape.cc
code/gazebo/branches/mpi/server/physics/HeightmapShape.hh
code/gazebo/branches/mpi/server/physics/SurfaceParams.cc
code/gazebo/branches/mpi/server/physics/SurfaceParams.hh
code/gazebo/branches/mpi/server/physics/TrimeshShape.cc
code/gazebo/branches/mpi/server/physics/TrimeshShape.hh
Property changes on: code/gazebo/branches/mpi
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo:7371-7550
/code/gazebo/branches/bullet2:8281-8355
/code/gazebo/branches/ogre-1.4.9:7137-7636
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/code/gazebo/branches/bullet2:8281-8355
/code/gazebo/branches/ogre-1.4.9:7137-7636
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Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2at
___________________________________________________________________
Modified: svn:mergeinfo
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/code/gazebo/branches/simpar/Media/models/pioneer2at:8711-8771
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/code/gazebo/trunk/Media/models/pioneer2at:8843-8881
Property changes on:
code/gazebo/branches/mpi/Media/models/pioneer2at/Cylinder.012.mesh.xml
___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/simpar/Media/models/pioneer2at/Cylinder.012.mesh.xml:8711-8771
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/Cylinder.012.mesh.xml:8281-8355
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/code/gazebo/trunk/Media/models/pioneer2at/Cylinder.012.mesh.xml:8843-8881
Property changes on:
code/gazebo/branches/mpi/Media/models/pioneer2at/OgreXMLConverter.log
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Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/OgreXMLConverter.log:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/OgreXMLConverter.log:8711-8771
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/OgreXMLConverter.log:8281-8355
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Property changes on:
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Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/Scene.material:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/Scene.material:8711-8771
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/code/gazebo/trunk/Media/models/pioneer2at/Scene.material:8843-8881
Property changes on:
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___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/chassis.mesh:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/chassis.mesh:8711-8771
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/chassis.mesh:8281-8355
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Property changes on:
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Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/chassis_top.mesh:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/chassis_top.mesh:8711-8771
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Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2at/hub.mesh
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Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2at/Pioneer2at/hub.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2at/hub.mesh:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/hub.mesh:8711-8771
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Property changes on:
code/gazebo/branches/mpi/Media/models/pioneer2at/pioneer3at.blend
___________________________________________________________________
Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/pioneer3at.blend:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/pioneer3at.blend:8711-8771
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/pioneer3at.blend:8281-8355
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Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2at/sonar.mesh
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Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/sonar.mesh:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/sonar.mesh:8711-8771
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Property changes on:
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Modified: svn:mergeinfo
-
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/code/gazebo/branches/bullet2/Media/models/pioneer2at/sonarbank.mesh:8281-8355
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/code/gazebo/branches/simpar/Media/models/pioneer2at/sonarbank.mesh:8711-8771
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/code/gazebo/trunk/Media/models/pioneer2at/sonarbank.mesh:8843-8881
Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2at/tire.mesh
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Modified: svn:mergeinfo
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Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2at/wheel.mesh
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Modified: svn:mergeinfo
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Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2dx
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Modified: svn:mergeinfo
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Property changes on:
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Modified: svn:mergeinfo
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Property changes on:
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Modified: svn:mergeinfo
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Property changes on:
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Modified: svn:mergeinfo
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Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2dx/hub.mesh
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Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/hub.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/hub.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/hub.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/hub.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/hub.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/hub.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/hub.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/hub.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/hub.mesh:8843-8881
Property changes on:
code/gazebo/branches/mpi/Media/models/pioneer2dx/pioneer3dx.blend
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/sources/pioneer3dx.blend:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/pioneer3dx.blend:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/sources/pioneer3dx.blend:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/pioneer3dx.blend:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/sources/pioneer3dx.blend:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/pioneer3dx.blend:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/sources/pioneer3dx.blend:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/pioneer3dx.blend:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/pioneer3dx.blend:8843-8881
Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2dx/sonar.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/sonar.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/sonar.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/sonar.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/sonar.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/sonar.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/sonar.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/sonar.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/sonar.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/sonar.mesh:8843-8881
Property changes on:
code/gazebo/branches/mpi/Media/models/pioneer2dx/sonarbank.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/sonarbank.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/sonarbank.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/sonarbank.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/sonarbank.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/sonarbank.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/sonarbank.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/sonarbank.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/sonarbank.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/sonarbank.mesh:8843-8881
Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2dx/tire.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/tire.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/tire.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/tire.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/tire.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/tire.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/tire.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/tire.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/tire.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/tire.mesh:8843-8881
Property changes on: code/gazebo/branches/mpi/Media/models/pioneer2dx/wheel.mesh
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/wheel.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/wheel.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/wheel.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/wheel.mesh:8711-8771
+
/code/branches/federation/gazebo/Media/sets/pioneer2dx/Pioneer2dx/wheel.mesh:7371-7550
/code/gazebo/branches/bullet2/Media/models/pioneer2dx/wheel.mesh:8281-8355
/code/gazebo/branches/ogre-1.4.9/Media/sets/pioneer2dx/Pioneer2dx/wheel.mesh:7137-7636
/code/gazebo/branches/simpar/Media/models/pioneer2dx/wheel.mesh:8711-8771
/code/gazebo/trunk/Media/models/pioneer2dx/wheel.mesh:8843-8881
Modified: code/gazebo/branches/mpi/server/Plugin.hh
===================================================================
--- code/gazebo/branches/mpi/server/Plugin.hh 2010-09-04 23:27:47 UTC (rev
8881)
+++ code/gazebo/branches/mpi/server/Plugin.hh 2010-09-07 22:18:07 UTC (rev
8882)
@@ -28,8 +28,8 @@
}
#define GZ_REGISTER_PLUGIN(name, classname) \
-extern "C" Plugin *RegisterPlugin(); \
-Plugin *RegisterPlugin() \
+extern "C" gazebo::Plugin *RegisterPlugin(); \
+gazebo::Plugin *RegisterPlugin() \
{\
return new classname();\
}
Modified: code/gazebo/branches/mpi/server/Quatern.cc
===================================================================
--- code/gazebo/branches/mpi/server/Quatern.cc 2010-09-04 23:27:47 UTC (rev
8881)
+++ code/gazebo/branches/mpi/server/Quatern.cc 2010-09-07 22:18:07 UTC (rev
8882)
@@ -126,10 +126,20 @@
s = sqrt(this->u * this->u + this->x * this->x + this->y * this->y + this->z
* this->z);
- this->u /= s;
- this->x /= s;
- this->y /= s;
- this->z /= s;
+ if (s == 0)
+ {
+ this->u = 0.0;
+ this->x = 0.0;
+ this->y = 0.0;
+ this->z = 1.0;
+ }
+ else
+ {
+ this->u /= s;
+ this->x /= s;
+ this->y /= s;
+ this->z /= s;
+ }
}
////////////////////////////////////////////////////////////////////////////////
@@ -212,7 +222,8 @@
vec.x = atan2(2 * (this->y*this->z + this->u*this->x), squ - sqx - sqy +
sqz);
// Pitch
- vec.y = asin(-2 * (this->x*this->z - this->u * this->y));
+ double sarg = -2 * (this->x*this->z - this->u * this->y);
+ vec.y = sarg <= -1.0 ? -0.5*M_PI : (sarg >= 1.0 ? 0.5*M_PI : asin(sarg));
// Yaw
vec.z = atan2(2 * (this->x*this->y + this->u*this->z), squ + sqx - sqy -
sqz);
Property changes on: code/gazebo/branches/mpi/server/gui/Sidebar.cc
___________________________________________________________________
Modified: svn:mergeinfo
- /code/gazebo/branches/simpar/server/gui/Sidebar.cc:8711-8771
+ /code/gazebo/branches/simpar/server/gui/Sidebar.cc:8711-8771
/code/gazebo/trunk/server/gui/Sidebar.cc:8843-8881
Property changes on: code/gazebo/branches/mpi/server/gui/Sidebar.hh
___________________________________________________________________
Modified: svn:mergeinfo
- /code/gazebo/branches/simpar/server/gui/Sidebar.hh:8711-8771
+ /code/gazebo/branches/simpar/server/gui/Sidebar.hh:8711-8771
/code/gazebo/trunk/server/gui/Sidebar.hh:8843-8881
Property changes on: code/gazebo/branches/mpi/server/physics/HeightmapShape.cc
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/HeightmapGeom.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/HeightmapShape.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/HeightmapGeom.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/HeightmapShape.cc:8711-8771
+ /code/branches/federation/gazebo/server/physics/HeightmapGeom.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/HeightmapShape.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/HeightmapGeom.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/HeightmapShape.cc:8711-8771
/code/gazebo/trunk/server/physics/HeightmapShape.cc:8843-8881
Property changes on: code/gazebo/branches/mpi/server/physics/HeightmapShape.hh
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/HeightmapGeom.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/HeightmapShape.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/HeightmapGeom.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/HeightmapShape.hh:8711-8771
+ /code/branches/federation/gazebo/server/physics/HeightmapGeom.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/HeightmapShape.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/HeightmapGeom.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/HeightmapShape.hh:8711-8771
/code/gazebo/trunk/server/physics/HeightmapShape.hh:8843-8881
Modified: code/gazebo/branches/mpi/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/branches/mpi/server/physics/PhysicsEngine.cc 2010-09-04
23:27:47 UTC (rev 8881)
+++ code/gazebo/branches/mpi/server/physics/PhysicsEngine.cc 2010-09-07
22:18:07 UTC (rev 8882)
@@ -52,14 +52,14 @@
{
this->visual =
OgreCreator::Instance()->CreateVisual("Physics_Engine_Visual");
this->visual->SetVisible(false);
- this->contactLines.resize(100);
+ this->contactLines.resize(5000);
Material *mat = new Material();
mat->SetName("ContactPointsMaterial");
mat->SetPointSize(10);
- mat->SetAmbient(Color(1,1,0,1));
- mat->SetDiffuse(Color(1,1,0,1));
- mat->SetEmissive(Color(1,1,0,1));
+ mat->SetAmbient(Color(1,0,0,1));
+ mat->SetDiffuse(Color(1,0,0,1));
+ mat->SetEmissive(Color(1,0,0,1));
std::string matName = OgreCreator::CreateMaterial(mat);
unsigned int i=0;
@@ -71,6 +71,20 @@
OgreDynamicRenderable::OT_LINE_LIST);
(*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
(*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
+ (*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
(*this->contactLinesIter)->setMaterial(matName);
this->visual->AttachObject(*this->contactLinesIter);
}
@@ -182,9 +196,30 @@
if (!World::Instance()->GetShowContacts())
return;
- (*this->contactLinesIter)->SetPoint(0, pos);
- (*this->contactLinesIter)->SetPoint(1, pos+(norm*0.1));
+ Vector3 e1 = norm.GetPerpendicular(); e1.Normalize();
+ Vector3 e2 = norm.GetCrossProd(e1); e2.Normalize();
+ (*this->contactLinesIter)->SetPoint( 0, pos);
+ (*this->contactLinesIter)->SetPoint( 1, pos+(norm*0.2)+(e1*0.05)+(e2*0.05));
+ (*this->contactLinesIter)->SetPoint( 2, pos);
+ (*this->contactLinesIter)->SetPoint( 3, pos+(norm*0.2)+(e1*0.05)-(e2*0.05));
+ (*this->contactLinesIter)->SetPoint( 4, pos);
+ (*this->contactLinesIter)->SetPoint( 5, pos+(norm*0.2)-(e1*0.05)+(e2*0.05));
+ (*this->contactLinesIter)->SetPoint( 6, pos);
+ (*this->contactLinesIter)->SetPoint( 7, pos+(norm*0.2)-(e1*0.05)-(e2*0.05));
+
+ (*this->contactLinesIter)->SetPoint( 8, pos+(norm*0.2)+(e1*0.05)+(e2*0.05));
+ (*this->contactLinesIter)->SetPoint( 9, pos+(norm*0.2)-(e1*0.05)+(e2*0.05));
+
+ (*this->contactLinesIter)->SetPoint(10, pos+(norm*0.2)-(e1*0.05)+(e2*0.05));
+ (*this->contactLinesIter)->SetPoint(11, pos+(norm*0.2)-(e1*0.05)-(e2*0.05));
+
+ (*this->contactLinesIter)->SetPoint(12, pos+(norm*0.2)-(e1*0.05)-(e2*0.05));
+ (*this->contactLinesIter)->SetPoint(13, pos+(norm*0.2)+(e1*0.05)-(e2*0.05));
+
+ (*this->contactLinesIter)->SetPoint(14, pos+(norm*0.2)+(e1*0.05)-(e2*0.05));
+ (*this->contactLinesIter)->SetPoint(15, pos+(norm*0.2)+(e1*0.05)+(e2*0.05));
+
this->contactLinesIter++;
if (this->contactLinesIter == this->contactLines.end())
Property changes on: code/gazebo/branches/mpi/server/physics/SurfaceParams.cc
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/ContactParams.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/SurfaceParams.cc:8711-8771
+ /code/branches/federation/gazebo/server/physics/ContactParams.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/SurfaceParams.cc:8711-8771
/code/gazebo/trunk/server/physics/SurfaceParams.cc:8843-8881
Property changes on: code/gazebo/branches/mpi/server/physics/SurfaceParams.hh
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/ContactParams.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/SurfaceParams.hh:8711-8771
+ /code/branches/federation/gazebo/server/physics/ContactParams.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/SurfaceParams.hh:8711-8771
/code/gazebo/trunk/server/physics/SurfaceParams.hh:8843-8881
Property changes on: code/gazebo/branches/mpi/server/physics/TrimeshShape.cc
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/TrimeshGeom.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/TrimeshShape.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/TrimeshGeom.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/TrimeshShape.cc:8711-8771
+ /code/branches/federation/gazebo/server/physics/TrimeshGeom.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/TrimeshShape.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/TrimeshGeom.cc:7137-7636
/code/gazebo/branches/simpar/server/physics/TrimeshShape.cc:8711-8771
/code/gazebo/trunk/server/physics/TrimeshShape.cc:8843-8881
Property changes on: code/gazebo/branches/mpi/server/physics/TrimeshShape.hh
___________________________________________________________________
Modified: svn:mergeinfo
- /code/branches/federation/gazebo/server/physics/TrimeshGeom.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/TrimeshShape.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/TrimeshGeom.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/TrimeshShape.hh:8711-8771
+ /code/branches/federation/gazebo/server/physics/TrimeshGeom.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/TrimeshShape.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/TrimeshGeom.hh:7137-7636
/code/gazebo/branches/simpar/server/physics/TrimeshShape.hh:8711-8771
/code/gazebo/trunk/server/physics/TrimeshShape.hh:8843-8881
Modified: code/gazebo/branches/mpi/server/physics/ode/ODEJoint.cc
===================================================================
--- code/gazebo/branches/mpi/server/physics/ode/ODEJoint.cc 2010-09-04
23:27:47 UTC (rev 8881)
+++ code/gazebo/branches/mpi/server/physics/ode/ODEJoint.cc 2010-09-07
22:18:07 UTC (rev 8882)
@@ -53,6 +53,8 @@
void ODEJoint::Load(XMLConfigNode *node)
{
+ Joint::Load(node);
+
double h = this->physics->GetStepTime().Double();
double stopErp = h * (**this->stopKpP) / (h * (**this->stopKpP) +
(**this->stopKdP));
double stopCfm = 1.0 / (h * (**this->stopKpP) + (**this->stopKdP));
@@ -72,8 +74,6 @@
this->feedback = new dJointFeedback;
dJointSetFeedback(this->jointId, this->feedback);
}
-
- Joint::Load(node);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/mpi/server/rendering/Light.cc
===================================================================
--- code/gazebo/branches/mpi/server/rendering/Light.cc 2010-09-04 23:27:47 UTC
(rev 8881)
+++ code/gazebo/branches/mpi/server/rendering/Light.cc 2010-09-07 22:18:07 UTC
(rev 8882)
@@ -71,6 +71,9 @@
/// Destructor
Light::~Light()
{
+ if (this->light)
+ OgreAdaptor::Instance()->sceneMgr->destroyLight(this->GetName());
+
delete this->line;
delete this->visual;
Modified: code/gazebo/branches/mpi/server/rendering/OgreDynamicLines.cc
===================================================================
--- code/gazebo/branches/mpi/server/rendering/OgreDynamicLines.cc
2010-09-04 23:27:47 UTC (rev 8881)
+++ code/gazebo/branches/mpi/server/rendering/OgreDynamicLines.cc
2010-09-07 22:18:07 UTC (rev 8882)
@@ -115,19 +115,17 @@
void OgreDynamicLines::FillHardwareBuffers()
{
- Vector3 vaabMin, vaabMax;
int size = this->points.size();
this->PrepareHardwareBuffers(size,0);
+ //std::cout << "debug size " << size << std::endl;
+
if (!size)
{
this->mBox.setExtents(Ogre::Vector3::ZERO, Ogre::Vector3::ZERO);
this->dirty=false;
}
- vaabMin = this->points[0];
- vaabMax = this->points[0];
-
Ogre::HardwareVertexBufferSharedPtr vbuf =
this->mRenderOp.vertexData->vertexBufferBinding->getBuffer(0);
@@ -140,39 +138,24 @@
*prPos++ = this->points[i].y;
*prPos++ = this->points[i].z;
- if (this->points[i].x < vaabMin.x)
- vaabMin.x = this->points[i].x;
- if (this->points[i].y < vaabMin.y)
- vaabMin.y = this->points[i].y;
- if (this->points[i].z < vaabMin.z)
- vaabMin.z = this->points[i].z;
-
- if (this->points[i].x > vaabMax.x)
- vaabMax.x = this->points[i].x;
- if (this->points[i].y > vaabMax.y)
- vaabMax.y = this->points[i].y;
- if (this->points[i].z > vaabMax.z)
- vaabMax.z = this->points[i].z;
+
this->mBox.merge(Ogre::Vector3(this->points[i].x,this->points[i].y,this->points[i].z));
}
}
vbuf->unlock();
- if (!finite(vaabMin.x))
- vaabMin.x = 0;
- if (!finite(vaabMin.y))
- vaabMin.y = 0;
- if (!finite(vaabMin.z))
- vaabMin.z = 0;
+ // std::cout << "debug mBox merging "
+ // << this->getBoundingBox().getMinimum().x << " , "
+ // << this->getBoundingBox().getMinimum().y << " , "
+ // << this->getBoundingBox().getMinimum().z << " | "
+ // << this->getBoundingBox().getMaximum().x << " , "
+ // << this->getBoundingBox().getMaximum().y << " , "
+ // << this->getBoundingBox().getMaximum().z << std::endl;
+
//this->mBox.setExtents(Ogre::Vector3(-1e9,-1e9,-1e9),Ogre::Vector3(1e9,1e9,1e9)
);
- if (!finite(vaabMax.x))
- vaabMax.x = 0;
- if (!finite(vaabMax.y))
- vaabMax.y = 0;
- if (!finite(vaabMax.z))
- vaabMax.z = 0;
+ // need to update after mBox change, otherwise the lines goes in and out of
scope based on old mBox
+ this->getParentSceneNode()->needUpdate();
- this->mBox.setExtents(Ogre::Vector3(vaabMin.x, vaabMin.y, vaabMin.z),
- Ogre::Vector3(vaabMax.x, vaabMax.y, vaabMax.z) );
+ //this->getParentSceneNode()->showBoundingBox(true); // debug
this->dirty = false;
}
Modified: code/gazebo/branches/mpi/server/rendering/OgreDynamicRenderable.cc
===================================================================
--- code/gazebo/branches/mpi/server/rendering/OgreDynamicRenderable.cc
2010-09-04 23:27:47 UTC (rev 8881)
+++ code/gazebo/branches/mpi/server/rendering/OgreDynamicRenderable.cc
2010-09-07 22:18:07 UTC (rev 8882)
@@ -209,8 +209,8 @@
Ogre::Vector3 vMin, vMax, vMid, vDist;
vMin = mBox.getMinimum();
vMax = mBox.getMaximum();
- vMid = ((vMin - vMax) * 0.5) + vMin;
+ vMid = ((vMax - vMin) * 0.5) + vMin;
vDist = cam->getDerivedPosition() - vMid;
-
+ //std::cout << "getSquaredview " << vDist.squaredLength() << std::endl;
return vDist.squaredLength();
}
Modified: code/gazebo/branches/mpi/worlds/models/pioneer2dx.model
===================================================================
--- code/gazebo/branches/mpi/worlds/models/pioneer2dx.model 2010-09-04
23:27:47 UTC (rev 8881)
+++ code/gazebo/branches/mpi/worlds/models/pioneer2dx.model 2010-09-07
22:18:07 UTC (rev 8882)
@@ -174,7 +174,7 @@
<controller:differential_position2d name="controller1">
<leftJoint>left_wheel_hinge</leftJoint>
<rightJoint>right_wheel_hinge</rightJoint>
- <wheelSeparation>0.39</wheelSeparation>
+ <wheelSeparation>0.34</wheelSeparation>
<wheelDiameter>0.15</wheelDiameter>
<torque>5</torque>
<interface:position name="position_iface_0"/>
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