Revision: 8986
http://playerstage.svn.sourceforge.net/playerstage/?rev=8986&view=rev
Author: natepak
Date: 2010-11-29 22:49:26 +0000 (Mon, 29 Nov 2010)
Log Message:
-----------
More bug fixes
Modified Paths:
--------------
code/gazebo/branches/dev/Media/materials/scripts/Gazebo.material
code/gazebo/branches/dev/server/CMakeLists.txt
code/gazebo/branches/dev/server/Quatern.hh
code/gazebo/branches/dev/server/Simulator.cc
code/gazebo/branches/dev/server/Simulator.hh
code/gazebo/branches/dev/server/World.cc
code/gazebo/branches/dev/server/World.hh
code/gazebo/branches/dev/server/physics/Body.cc
code/gazebo/branches/dev/server/physics/Geom.cc
code/gazebo/branches/dev/server/physics/Geom.hh
code/gazebo/branches/dev/server/rendering/Visual.cc
code/gazebo/branches/dev/server/rendering/Visual.hh
code/gazebo/branches/dev/server/rendering/WindowManager.cc
code/gazebo/branches/dev/server/wx/BoxMaker.cc
code/gazebo/branches/dev/server/wx/RenderControl.cc
Modified: code/gazebo/branches/dev/Media/materials/scripts/Gazebo.material
===================================================================
--- code/gazebo/branches/dev/Media/materials/scripts/Gazebo.material
2010-11-29 05:34:15 UTC (rev 8985)
+++ code/gazebo/branches/dev/Media/materials/scripts/Gazebo.material
2010-11-29 22:49:26 UTC (rev 8986)
@@ -271,6 +271,25 @@
}
}
+material Gazebo/TurquoiseGlowOutline : Gazebo/Turquoise
+{
+ technique
+ {
+ pass ambient
+ {
+ ambient 0 1 1
+ polygon_mode wireframe
+ }
+
+ pass light
+ {
+ emissive 0 1 1
+ diffuse 0 1 1
+ polygon_mode wireframe
+ }
+ }
+}
+
material Gazebo/RedTransparent
{
technique
Modified: code/gazebo/branches/dev/server/CMakeLists.txt
===================================================================
--- code/gazebo/branches/dev/server/CMakeLists.txt 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/CMakeLists.txt 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -132,6 +132,7 @@
STLLoader.hh
Events.hh
Plugin.hh
+ Messages.hh
)
APPEND_TO_SERVER_HEADERS(${headers})
Modified: code/gazebo/branches/dev/server/Quatern.hh
===================================================================
--- code/gazebo/branches/dev/server/Quatern.hh 2010-11-29 05:34:15 UTC (rev
8985)
+++ code/gazebo/branches/dev/server/Quatern.hh 2010-11-29 22:49:26 UTC (rev
8986)
@@ -100,7 +100,7 @@
public: static Quatern EulerToQuatern( const Vector3 &vec );
/// \brief Convert euler angles to quatern.
- public: Quatern EulerToQuatern( double x, double y, double z);
+ public: static Quatern EulerToQuatern( double x, double y, double z);
/// \brief Get the Euler roll angle in radians
public: double GetRoll();
Modified: code/gazebo/branches/dev/server/Simulator.cc
===================================================================
--- code/gazebo/branches/dev/server/Simulator.cc 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/Simulator.cc 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -30,6 +30,7 @@
#include <boost/bind.hpp>
#include <boost/thread/recursive_mutex.hpp>
+#include "Messages.hh"
#include "RenderState.hh"
#include "PhysicsFactory.hh"
#include "gazebo_config.h"
@@ -634,3 +635,11 @@
}
}
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Send a message
+void Simulator::SendMessage( const Message &message )
+{
+ for (unsigned int i=0; i < this->worlds.size(); i++)
+ this->worlds[i]->ReceiveMessage( message );
+}
Modified: code/gazebo/branches/dev/server/Simulator.hh
===================================================================
--- code/gazebo/branches/dev/server/Simulator.hh 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/Simulator.hh 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -56,6 +56,7 @@
class Model;
class World;
class Plugin;
+ class Message;
/// \brief The World
/*
@@ -155,6 +156,9 @@
/// \brief Remove a plugin
public: void RemovePlugin(const std::string &plugin);
+
+ /// \brief Send a message
+ public: void SendMessage( const Message &message );
/// \brief Function to run gui. Used by guiThread
private: void PhysicsLoop();
@@ -199,7 +203,7 @@
private: unsigned int activeWorldIndex;
private: std::vector<Plugin*> plugins;
-
+
//Singleton implementation
private: friend class DestroyerT<Simulator>;
private: friend class SingletonT<Simulator>;
Modified: code/gazebo/branches/dev/server/World.cc
===================================================================
--- code/gazebo/branches/dev/server/World.cc 2010-11-29 05:34:15 UTC (rev
8985)
+++ code/gazebo/branches/dev/server/World.cc 2010-11-29 22:49:26 UTC (rev
8986)
@@ -324,7 +324,7 @@
Time diffTime;
Time currTime;
Time lastTime = this->GetRealTime();
- struct timespec req, rem;
+ struct timespec req;//, rem;
this->startTime = Time::GetWallTime();
@@ -406,6 +406,9 @@
// Process all incoming messages from simiface
this->simIfaceHandler->Update();
+ /// Process all internal messages
+ this->ProcessMessages();
+
// NATY: put back in
//Logger::Instance()->Update();
@@ -532,6 +535,8 @@
if (node)
{
+ std::cout << "Loading an entity\n";
+
// Check for model nodes
if (node->GetName() == "model")
{
@@ -585,7 +590,7 @@
}
// last bool is initModel, yes, init model after loading it
- this->LoadEntities( xmlConfig->GetRootNode(), NULL, true, true);
+ this->LoadEntities( xmlConfig->GetRootNode(), this->rootElement, true,
true);
delete xmlConfig;
}
this->toLoadEntities.clear();
@@ -656,6 +661,49 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Receive a message
+void World::ReceiveMessage( const Message &msg )
+{
+ boost::mutex::scoped_lock lock( this->mutex );
+ this->messages.push_back( msg.Clone() );
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Process all messages
+void World::ProcessMessages()
+{
+ boost::mutex::scoped_lock lock( this->mutex );
+
+ for ( unsigned int i=0; i < this->messages.size(); i++)
+ {
+ Message *msg = this->messages[i];
+
+ if (msg->type == INSERT_MODEL)
+ {
+ // Create the world file
+ XMLConfig *xmlConfig = new XMLConfig();
+
+ // Load the XML tree from the given string
+ try
+ {
+ xmlConfig->LoadString( ((InsertModelMsg*)msg)->xmlStr );
+ }
+ catch (gazebo::GazeboError e)
+ {
+ gzerr(0) << "The world could not load the XML data [" << e << "]\n";
+ continue;
+ }
+
+ // last bool is initModel, yes, init model after loading it
+ this->LoadEntities( xmlConfig->GetRootNode(), this->rootElement, true,
true);
+ delete xmlConfig;
+ }
+ }
+
+ this->messages.clear();
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Load a model
Model *World::LoadModel(XMLConfigNode *node, Common *parent,
bool removeDuplicate, bool initModel)
Modified: code/gazebo/branches/dev/server/World.hh
===================================================================
--- code/gazebo/branches/dev/server/World.hh 2010-11-29 05:34:15 UTC (rev
8985)
+++ code/gazebo/branches/dev/server/World.hh 2010-11-29 22:49:26 UTC (rev
8986)
@@ -37,6 +37,7 @@
#include "Global.hh"
+#include "Messages.hh"
#include "Vector3.hh"
#include "Pose3d.hh"
#include "Entity.hh"
@@ -203,6 +204,12 @@
/// \brief Get an element by name
public: Common *GetByName(const std::string &name);
+ /// \brief Receive a message
+ public: void ReceiveMessage( const Message &msg );
+
+ /// \brief Process all messages
+ private: void ProcessMessages();
+
/// \brief Save the state of the world
private: void SaveState();
@@ -267,6 +274,9 @@
//private: Timer saveStateTimer;
+ private: boost::mutex mutex;
+ private: std::vector<Message*> messages;
+
private: ParamT<std::string> *nameP;
private: ParamT<Time> *saveStateTimeoutP;
private: ParamT<unsigned int> *saveStateBufferSizeP;
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.cc 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -35,7 +35,6 @@
#include "GazeboMessage.hh"
#include "Geom.hh"
#include "Timer.hh"
-#include "Visual.hh"
#include "OgreDynamicLines.hh"
#include "Global.hh"
#include "Vector2.hh"
@@ -57,14 +56,16 @@
: Entity(parent)
{
this->AddType(BODY);
- this->GetVisualNode()->SetShowInGui(false);
+ // NATY: put back in functionality
+ // this->GetVisualNode()->SetShowInGui(false);
+
this->comEntity = new Entity(this);
this->comEntity->SetName("COM_Entity");
this->comEntity->SetShowInGui(false);
- this->comEntity->GetVisualNode()->SetShowInGui(false);
- this->cgVisual = NULL;
+ // NATY: put back in functionality
+ //this->comEntity->GetVisualNode()->SetShowInGui(false);
Param::Begin(&this->parameters);
this->xyzP = new ParamT<Vector3>("xyz", Vector3(), 0);
@@ -110,11 +111,9 @@
std::vector<Entity*>::iterator iter;
std::vector< Sensor* >::iterator siter;
- if (this->cgVisual)
- {
- delete this->cgVisual;
- this->cgVisual = NULL;
- }
+ DeleteVisualMsg msg;
+ msg.id = this->cgVisualId;
+ Simulator::Instance()->SendMessage(msg);
for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
if (giter->second)
@@ -378,32 +377,35 @@
std::ostringstream visname;
visname << this->GetCompleteScopedName() + ":" + this->GetName() <<
"_CGVISUAL" ;
- if (this->cgVisual == NULL)
- {
- this->cgVisual = new Visual(visname.str(), this->comEntity);
- }
- else
- this->cgVisual->DetachObjects();
+ this->cgVisualId = visname.str();
- if (this->cgVisual)
+ InsertVisualMsg msg;
+ msg.parentId = this->comEntity->GetName();
+ msg.id = this->cgVisualId;
+ msg.type = MESH_RESOURCE;
+ msg.mesh = "body_cg";
+ msg.material = "Gazebo/Red";
+ msg.castShadows = false;
+ msg.attachAxes = true;
+ msg.visible = false;
+ Simulator::Instance()->SendMessage(msg);
+
+ msg.parentId = this->cgVisualId;
+ msg.type = LINE_LIST;
+ msg.attachAxes = false;
+ msg.material = "Gazebo/GreenGlow";
+
+ // Create a line to each geom
+ for (std::map< std::string, Geom* >::iterator giter = this->geoms.begin();
+ giter != this->geoms.end(); giter++)
{
- this->cgVisual->AttachMesh("body_cg");
- this->cgVisual->SetMaterial("Gazebo/Red");
- this->cgVisual->SetCastShadows(false);
- this->cgVisual->AttachAxes();
+ msg.points.clear();
- std::map< std::string, Geom* >::iterator giter;
+ msg.id = visname.str() + "_lineto_" + giter->first->GetName();
+ msg.points.push_back( Vector3(0,0,0) );
+ msg.points.push_back(giter->second->GetRelativePose().pos);
- // Create a line to each geom
- for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
- {
- OgreDynamicLines *line =
this->cgVisual->AddDynamicLine(RENDERING_LINE_LIST);
- line->setMaterial("Gazebo/GreenGlow");
- line->AddPoint(Vector3(0,0,0));
- line->AddPoint(giter->second->GetRelativePose().pos);
- }
-
- this->cgVisual->SetVisible(false);
+ Simulator::Instance()->SendMessage(msg);
}
}
Modified: code/gazebo/branches/dev/server/physics/Geom.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.cc 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/physics/Geom.cc 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -32,7 +32,6 @@
#include "Shape.hh"
#include "Mass.hh"
#include "PhysicsEngine.hh"
-#include "Visual.hh"
#include "Global.hh"
#include "GazeboMessage.hh"
#include "SurfaceParams.hh"
@@ -55,8 +54,6 @@
// Create the contact parameters
this->surface = new SurfaceParams();
- this->bbVisual = NULL;
-
this->transparency = 0;
this->shape = NULL;
@@ -168,15 +165,25 @@
while (childNode)
{
std::ostringstream visname;
- visname << this->GetCompleteScopedName() << "_VISUAL_" <<
this->visuals.size();
- Visual *visual = new Visual(visname.str(), this->visualNode);
- visual->Load(childNode);
- visual->SetIgnorePoseUpdates(true);
- visual->SetOwner(this);
- visual->SetCastShadows(true);
+ visname << this->GetCompleteScopedName() << "_VISUAL_" <<
+ this->visuals.size();
- this->visuals.push_back(visual);
+ InsertVisualMsg msg;
+ msg.parentId = this->GetName();
+ msg.id = visname.str();
+ msg.Load(childNode);
+ msg.castShadows = false;
+ Simulator::Instance()->SendMessage( msg );
+
+ this->visualNames.push_back(visname.str());
+
+ // NATY: get rid of this
+ //visual->SetOwner(this);
+ //visual->SetCastShadows(true);
+ //this->visuals.push_back(visual);
+ //visual->SetIgnorePoseUpdates(true);
+
childNode = childNode->GetNext("visual");
}
}
@@ -230,11 +237,12 @@
stream << prefix << " " << *(this->laserFiducialIdP) << "\n";
stream << prefix << " " << *(this->laserRetroP) << "\n";
- for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
+ // NATY: put back in functionality
+ /*for (iter = this->visuals.begin(); iter != this->visuals.end(); iter++)
{
if (*iter)
(*iter)->Save(p, stream);
- }
+ }*/
stream << prefix << "</geom>\n";
}
Modified: code/gazebo/branches/dev/server/physics/Geom.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.hh 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/physics/Geom.hh 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -234,7 +234,7 @@
private: float transparency;
/// All the visual apparence
- private: std::vector<Visual*> visuals;
+ private: std::vector<std::string> visualNames;
protected: Shape *shape;
Modified: code/gazebo/branches/dev/server/rendering/Visual.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.cc 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/rendering/Visual.cc 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -185,8 +185,9 @@
/// Destructor
Visual::~Visual()
{
+ // NATY
+ //delete this->mutex;
- delete this->mutex;
delete this->xyzP;
delete this->rpyP;
delete this->meshNameP;
Modified: code/gazebo/branches/dev/server/rendering/Visual.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.hh 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/rendering/Visual.hh 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -257,7 +257,8 @@
private: ParamT<Vector3> *scaleP;
private: ParamT<Vector2<double> > *meshTileP;
- private: boost::recursive_mutex *mutex;
+ // NATY
+ //private: boost::recursive_mutex *mutex;
private: bool ignorePoseUpdates;
private: bool dirty;
Modified: code/gazebo/branches/dev/server/rendering/WindowManager.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/WindowManager.cc 2010-11-29
05:34:15 UTC (rev 8985)
+++ code/gazebo/branches/dev/server/rendering/WindowManager.cc 2010-11-29
22:49:26 UTC (rev 8986)
@@ -111,7 +111,7 @@
{
if (id >= this->windows.size())
{
- gzerr(0) << "Invalid window id[" << id << "]\n";
+ gzerr(5) << "Invalid window id[" << id << "]\n";
}
else
{
@@ -124,7 +124,7 @@
{
for (unsigned int i=0; i < this->windows.size(); i++)
{
- this->windows[i]->update();
- //this->windows[i]->swapBuffers();
+ this->windows[i]->update(false);
+ this->windows[i]->swapBuffers();
}
}
Modified: code/gazebo/branches/dev/server/wx/BoxMaker.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/BoxMaker.cc 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/wx/BoxMaker.cc 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -1,5 +1,6 @@
#include <iostream>
+#include "Messages.hh"
#include "Events.hh"
#include "MouseEvent.hh"
#include "Simulator.hh"
@@ -31,6 +32,7 @@
stream << "user_box_" << counter++;
this->visual = new Visual(stream.str(), scene );
this->visual->AttachMesh("unit_box_U1V1");
+ this->visual->SetMaterial("Gazebo/TurquoiseGlowOutline");
this->state = 1;
}
@@ -85,7 +87,8 @@
p2 = event.camera->GetWorldPointOnPlane(event.pos.x, event.pos.y ,norm, 0);
p2 = this->GetSnappedPoint( p2 );
- this->visual->SetPosition(p1);
+ if (this->state == 1)
+ this->visual->SetPosition(p1);
Vector3 scale = p1-p2;
Vector3 p = this->visual->GetPosition();
@@ -110,18 +113,19 @@
void BoxMaker::CreateTheEntity()
{
+ InsertModelMsg msg;
+
std::ostringstream newModelStr;
if (!this->visual)
return;
- newModelStr << "<?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: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'
>";
+ newModelStr << "<?xml version='1.0'?>";
-
- newModelStr << "<model:physical name=\"" << this->visual->GetName() << "\">\
+ newModelStr << "<model type='physical' name='" << this->visual->GetName() <<
"'>\
<xyz>" << this->visual->GetPosition() << "</xyz>\
- <body:box name=\"body\">\
- <geom:box name=\"geom\">\
+ <body name='body'>\
+ <geom type='box' name='geom'>\
<size>" << this->visual->GetScale() << "</size>\
<mass>0.5</mass>\
<visual>\
@@ -130,14 +134,15 @@
<material>Gazebo/Grey</material>\
<shader>pixel</shader>\
</visual>\
- </geom:box>\
- </body:box>\
- </model:physical>";
+ </geom>\
+ </body>\
+ </model>";
- newModelStr << "</gazebo:world>";
-
delete this->visual;
this->visual = NULL;
- Simulator::Instance()->GetActiveWorld()->InsertEntity(newModelStr.str());
+ msg.xmlStr = newModelStr.str();
+ Simulator::Instance()->SendMessage( msg );
+
+ //Simulator::Instance()->GetActiveWorld()->InsertEntity();
}
Modified: code/gazebo/branches/dev/server/wx/RenderControl.cc
===================================================================
--- code/gazebo/branches/dev/server/wx/RenderControl.cc 2010-11-29 05:34:15 UTC
(rev 8985)
+++ code/gazebo/branches/dev/server/wx/RenderControl.cc 2010-11-29 22:49:26 UTC
(rev 8986)
@@ -313,7 +313,7 @@
this->userCamera = scene->GetUserCamera(0);
this->userCamera->SetWorldPosition( Vector3(0,0,3) );
- this->userCamera->SetWorldRotation( Quatern::EulerToQuatern(0,0,3) );
+ this->userCamera->SetWorldRotation( Quatern::EulerToQuatern(0, DTOR(15), 0)
);
WindowManager::Instance()->SetCamera(this->windowId, this->userCamera);
@@ -382,20 +382,15 @@
this->currMaker->Start(this->userCamera->GetScene());
}
+////////////////////////////////////////////////////////////////////////////////
+// On resize event
void RenderControl::OnSize( wxSizeEvent &evt )
{
- int width;
- int height;
wxSize size = evt.GetSize ();
- width = size.GetWidth ();
- height = size.GetHeight ();
- std::cout << "On Size[" << width << ":" << height << "]\n";
-
- WindowManager::Instance()->Resize(this->windowId, width, height);
-
- evt.StopPropagation();
- //evt.Skip(false);
+ WindowManager::Instance()->Resize(this->windowId, size.GetWidth(),
+ size.GetHeight());
+ evt.Skip();
}
////////////////////////////////////////////////////////////////////////////////
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
Increase Visibility of Your 3D Game App & Earn a Chance To Win $500!
Tap into the largest installed PC base & get more eyes on your game by
optimizing for Intel(R) Graphics Technology. Get started today with the
Intel(R) Software Partner Program. Five $500 cash prizes are up for grabs.
http://p.sf.net/sfu/intelisp-dev2dev
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
