Revision: 8989
http://playerstage.svn.sourceforge.net/playerstage/?rev=8989&view=rev
Author: natepak
Date: 2010-11-30 05:02:10 +0000 (Tue, 30 Nov 2010)
Log Message:
-----------
Updates
Modified Paths:
--------------
code/gazebo/branches/dev/server/Messages.hh
code/gazebo/branches/dev/server/audio_video/AudioDecoder.hh
code/gazebo/branches/dev/server/physics/Body.cc
code/gazebo/branches/dev/server/physics/Body.hh
code/gazebo/branches/dev/server/physics/Geom.hh
code/gazebo/branches/dev/server/physics/Joint.cc
code/gazebo/branches/dev/server/physics/Joint.hh
code/gazebo/branches/dev/server/physics/PhysicsEngine.cc
code/gazebo/branches/dev/server/physics/PhysicsEngine.hh
Modified: code/gazebo/branches/dev/server/Messages.hh
===================================================================
--- code/gazebo/branches/dev/server/Messages.hh 2010-11-30 02:29:38 UTC (rev
8988)
+++ code/gazebo/branches/dev/server/Messages.hh 2010-11-30 05:02:10 UTC (rev
8989)
@@ -1,12 +1,16 @@
#ifndef MESSAGES_HH
#define MESSAGES_HH
+#include <vector>
+
+#include "Vector3.hh"
#include "Time.hh"
#include "Pose3d.hh"
+
namespace gazebo
{
- enum MessageType{ INSERT_MODEL };
+ enum MessageType{ INSERT_MODEL, VISUAL, POSE };
class Message
{
@@ -32,16 +36,17 @@
class VisualMsg : public Message
{
public: enum ActionType {UPDATE, DELETE};
+ public: enum RenderType {MESH_RESOURCE, POINTS, LINE_LIST};
- public: InsertVisualMsg() : Message(INSERT_VISUAL) {}
- public: InsertVisualMsg(const InsertVisualMsg &m) : Message(m),
- xmlStr(m.xmlStr) {}
+ public: VisualMsg() : Message(VISUAL) {}
+ public: VisualMsg(const VisualMsg &m) : Message(m) {}
public: virtual Message *Clone() const
- { InsertVisualMsg *msg = new InsertVisualMsg(*this); return msg; }
+ { VisualMsg *msg = new VisualMsg(*this); return msg; }
public: std::string parentId;
public: std::string id;
- public: VisualMsgActionType action;
+ public: ActionType action;
+ public: RenderType render;
public: std::string mesh;
public: std::string material;
public: bool castShadows;
@@ -49,9 +54,10 @@
public: bool visible;
public: Vector3 boundingbox_min;
public: Vector3 boundingbox_max;
+ public: std::vector<Vector3> points;
};
- class UpdatePoseMsg : public Message
+ /*class UpdatePoseMsg : public Message
{
public: UpdatePoseMsg() : Message(UPDATE_POSE), id(0) {}
public: UpdatePoseMsg(const UpdatePoseMsg &m) : Message(m),
@@ -61,7 +67,7 @@
public: std::string id;
public: Pose3d pose;
- };
+ };*/
}
#endif
Modified: code/gazebo/branches/dev/server/audio_video/AudioDecoder.hh
===================================================================
--- code/gazebo/branches/dev/server/audio_video/AudioDecoder.hh 2010-11-30
02:29:38 UTC (rev 8988)
+++ code/gazebo/branches/dev/server/audio_video/AudioDecoder.hh 2010-11-30
05:02:10 UTC (rev 8989)
@@ -31,6 +31,8 @@
#ifdef HAVE_FFMPEG
+#include <inttypes.h>
+
extern "C" {
#include <avformat.h>
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.cc 2010-11-30 02:29:38 UTC
(rev 8988)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2010-11-30 05:02:10 UTC
(rev 8989)
@@ -111,9 +111,10 @@
std::vector<Entity*>::iterator iter;
std::vector< Sensor* >::iterator siter;
- DeleteVisualMsg msg;
- msg.id = this->cgVisualId;
- Simulator::Instance()->SendMessage(msg);
+ this->cgVisualMsg->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage(*this->cgVisualMsg);
+ delete this->cgVisualMsg;
+ this->cgVisualMsg = NULL;
for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
if (giter->second)
@@ -377,21 +378,20 @@
std::ostringstream visname;
visname << this->GetCompleteScopedName() + ":" + this->GetName() <<
"_CGVISUAL" ;
- this->cgVisualId = visname.str();
+ this->cgVisualMsg = new VisualMsg();
+ this->cgVisualMsg->parentId = this->comEntity->GetName();
+ this->cgVisualMsg->id = visname.str();
+ this->cgVisualMsg->render = VisualMsg::MESH_RESOURCE;
+ this->cgVisualMsg->mesh = "body_cg";
+ this->cgVisualMsg->material = "Gazebo/Red";
+ this->cgVisualMsg->castShadows = false;
+ this->cgVisualMsg->attachAxes = true;
+ this->cgVisualMsg->visible = false;
+ Simulator::Instance()->SendMessage(*this->cgVisualMsg);
VisualMsg 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.parentId = this->cgVisualMsg->id;
+ msg.render = VisualMsg::LINE_LIST;
msg.attachAxes = false;
msg.material = "Gazebo/GreenGlow";
@@ -702,16 +702,16 @@
/// Toggle show the physics visualizations
void Body::ToggleShowPhysics()
{
- if (this->cgVisual)
- this->cgVisual->ToggleVisible();
+ this->cgVisualMsg->visible = !this->cgVisualMsg->visible;
+ Simulator::Instance()->SendMessage(*this->cgVisualMsg);
}
////////////////////////////////////////////////////////////////////////////////
/// Set to true to show the physics visualizations
void Body::ShowPhysics(bool show)
{
- if (this->cgVisual)
- this->cgVisual->SetVisible(show);
+ this->cgVisualMsg->visible = show;
+ Simulator::Instance()->SendMessage(*this->cgVisualMsg);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/physics/Body.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.hh 2010-11-30 02:29:38 UTC
(rev 8988)
+++ code/gazebo/branches/dev/server/physics/Body.hh 2010-11-30 05:02:10 UTC
(rev 8989)
@@ -41,6 +41,7 @@
class Geom;
class Sensor;
class XMLConfigNode;
+ class VisualMsg;
/// \addtogroup gazebo_physics
/// \brief The body class
@@ -269,7 +270,7 @@
protected: ParamT<bool> *turnGravityOffP;
protected: ParamT<bool> *selfCollideP;
- protected: Visual *cgVisual;
+ protected: VisualMsg *cgVisualMsg;
protected: Vector3 linearAccel;
protected: Vector3 angularAccel;
Modified: code/gazebo/branches/dev/server/physics/Geom.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Geom.hh 2010-11-30 02:29:38 UTC
(rev 8988)
+++ code/gazebo/branches/dev/server/physics/Geom.hh 2010-11-30 05:02:10 UTC
(rev 8989)
@@ -44,6 +44,7 @@
class Body;
class SurfaceParams;
class XMLConfigNode;
+ class VisualMsg;
/// \addtogroup gazebo_physics
/// \brief Base class for all geoms
Modified: code/gazebo/branches/dev/server/physics/Joint.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Joint.cc 2010-11-30 02:29:38 UTC
(rev 8988)
+++ code/gazebo/branches/dev/server/physics/Joint.cc 2010-11-30 05:02:10 UTC
(rev 8989)
@@ -43,7 +43,9 @@
: Common(NULL)
{
this->AddType(JOINT);
- this->visual = NULL;
+ this->visualMsg = NULL;
+ this->line1Msg = NULL;
+ this->line2Msg = NULL;
this->model = NULL;
Param::Begin(&this->parameters);
@@ -72,12 +74,30 @@
{
Events::DisconnectShowJointsSignal(boost::bind(&Joint::ToggleShowJoints,
this));
- if (this->visual)
+ if (this->visualMsg)
{
- delete this->visual;
- this->visual = NULL;
+ this->visualMsg->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage(*this->visualMsg);
+ delete this->visualMsg;
+ this->visualMsg = NULL;
}
+ if (this->line1Msg)
+ {
+ this->line1Msg->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage(*this->line1Msg);
+ delete this->line1Msg;
+ this->line1Msg = NULL;
+ }
+
+ if (this->line2Msg)
+ {
+ this->line2Msg->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage(*this->line2Msg);
+ delete this->line2Msg;
+ this->line2Msg = NULL;
+ }
+
delete this->erpP;
delete this->cfmP;
delete this->stopKpP;
@@ -147,18 +167,23 @@
this->visualMsg->mesh = "joint_anchor";
this->visualMsg->material = "Gazebo/JointAnchor";
this->visualMsg->visible = false;
+
+ this->line1Msg = new VisualMsg();
+ this->line1Msg->parentId = this->visualMsg->id;
+ this->line1Msg->id = "line1";
+ this->line1Msg->type = VisualMsg::LINE_LIST;
+ this->line1Msg->material = "Gazebo/BlueGlow";
+ this->line1Msg->points.push_back(Vector3(0,0,0));
+ this->line1Msg->points.push_back(Vector3(0,0,0));
- this->line1 = this->visual->AddDynamicLine(RENDERING_LINE_LIST);
- this->line2 = this->visual->AddDynamicLine(RENDERING_LINE_LIST);
+ this->line2Msg = new VisualMsg();
+ this->line2Msg->parentId = this->visualMsg->id;
+ this->line2Msg->id = "line2";
+ this->line2Msg->type = VisualMsg::LINE_LIST;
+ this->line2Msg->material = "Gazebo/BlueGlow";
+ this->line2Msg->points.push_back(Vector3(0,0,0));
+ this->line2Msg->points.push_back(Vector3(0,0,0));
- this->line1->setMaterial("Gazebo/BlueGlow");
- this->line2->setMaterial("Gazebo/BlueGlow");
-
- this->line1->AddPoint(Vector3(0,0,0));
- this->line1->AddPoint(Vector3(0,0,0));
- this->line2->AddPoint(Vector3(0,0,0));
- this->line2->AddPoint(Vector3(0,0,0));
-
// Set the anchor vector
if (this->anchorBody)
{
@@ -196,20 +221,24 @@
this->jointUpdateSignal();
//TODO: Evaluate impact of this code on performance
- if (this->visual && this->visual->GetVisible())
+ if (this->visualMsg && this->visualMsg->visible)
{
if (this->GetName() == "left_paddle_joint")
std::cout << "Joint[" << this->GetName() << "] Angle[" <<
this->GetAngle(0) << "]\n";
this->anchorPos = (Pose3d(**(this->anchorOffsetP),Quatern()) +
this->anchorBody->GetWorldPose()).pos;
- this->visual->SetPosition(this->anchorPos);
+ this->visualMsg->pose.pos = this->anchorPos;
if (this->body1)
- this->line1->SetPoint(1, this->body1->GetWorldPose().pos -
this->anchorPos);
+ this->line1Msg->points[1] = this->body1->GetWorldPose().pos -
this->anchorPos;
if (this->body2)
- this->line2->SetPoint(1, this->body2->GetWorldPose().pos -
this->anchorPos);
+ this->line2Msg->poinst[1] = this->body2->GetWorldPose().pos -
this->anchorPos;
+
+ Simulator::Instance()->SendMessage( *this->visualMsg );
+ Simulator::Instance()->SendMessage( *this->line1Msg );
+ Simulator::Instance()->SendMessage( *this->line2Msg );
}
}
@@ -217,8 +246,11 @@
// Toggle joint visibility
void Joint::ToggleShowJoints()
{
- if (this->visual)
- this->visual->ToggleVisible();
+ if (this->visualMsg)
+ {
+ this->visualMsg->visible = !this->visualMsg->visible;
+ Simulator::Instance()->SendMessage( *this->visualMsg );
+ }
}
//////////////////////////////////////////////////////////////////////////////
@@ -226,7 +258,10 @@
void Joint::ShowJoints(bool s)
{
if (this->visual)
- this->visual->SetVisible(s);
+ {
+ this->visualMsg->visible = s;
+ Simulator::Instance()->SendMessage( *this->visualMsg );
+ }
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/physics/Joint.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/Joint.hh 2010-11-30 02:29:38 UTC
(rev 8988)
+++ code/gazebo/branches/dev/server/physics/Joint.hh 2010-11-30 05:02:10 UTC
(rev 8989)
@@ -43,6 +43,7 @@
class XMLConfigNode;
class Model;
class OgreDynamicLines;
+ class VisualMsg;
/// \brief Base class for all joints
class Joint : public Common
Modified: code/gazebo/branches/dev/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/PhysicsEngine.cc 2010-11-30
02:29:38 UTC (rev 8988)
+++ code/gazebo/branches/dev/server/physics/PhysicsEngine.cc 2010-11-30
05:02:10 UTC (rev 8989)
@@ -28,15 +28,12 @@
#include "RenderTypes.hh"
+#include "Messages.hh"
#include "GazeboError.hh"
#include "GazeboMessage.hh"
#include "RenderState.hh"
#include "Events.hh"
#include "World.hh"
-#include "Visual.hh"
-#include "OgreDynamicLines.hh"
-#include "OgreCreator.hh"
-#include "Material.hh"
#include "Shape.hh"
#include "PhysicsEngine.hh"
#include "Simulator.hh" // disable X
@@ -61,10 +58,17 @@
if (Simulator::Instance()->GetRenderEngineEnabled())
{
- this->visual = new Visual("Physics_Engine_Visual",
this->world->GetScene());
- this->visual->SetVisible(false);
- this->visual->SetCastShadows(false);
- this->visual->SetUseRTShader(false);
+ this->visualMsg = new VisualMsg();
+ this->visualMsg->parentId.clear();
+ this->visualMsg->id = "physics_engine_visual";
+ this->visualMsg->visible = false;
+ this->visualMsg->rtShader = false;
+ this->visualMsg->castShadows = false;
+ this->visualMsg->action = VisualMsg::UPDATE;
+
+ Simulator::Instance()->SendMessage( *this->visualMsg );
+
+ /* NATY: put this back in
this->contactLines.resize(5000);
Material *mat = new Material();
@@ -99,11 +103,13 @@
(*this->contactLinesIter)->AddPoint(Vector3(0,0,0));
(*this->contactLinesIter)->setMaterial(matName);
}
+ */
Events::ConnectShowContactsSignal(
boost::bind(&PhysicsEngine::ToggleShowVisual, this) );
- this->contactLinesIter = this->contactLines.begin();
- delete mat;
+ // NATY: put this back in
+ //this->contactLinesIter = this->contactLines.begin();
+ //delete mat;
}
}
@@ -114,10 +120,12 @@
{
Events::DisconnectShowContactsSignal(
boost::bind(&PhysicsEngine::ToggleShowVisual, this) );
- if (this->visual)
+ if (this->visualMsg)
{
- delete this->visual;
- this->visual = NULL;
+ this->visualMsg->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage( *this->visualMsg );
+ delete this->visualMsg;
+ this->visualMsg = NULL;
}
delete this->gravityP;
@@ -229,21 +237,24 @@
// Toggle whether to show contacts
void PhysicsEngine::ToggleShowVisual()
{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
- this->visual->ToggleVisible();
- this->contactLinesIter = this->contactLines.begin();
+ this->visualMsg->visible = !this->visualMsg->visible;
+ Simulator::Instance()->SendMessage(*this->visualMsg);
+
+ // NATY: put back in
+ //this->contactLinesIter = this->contactLines.begin();
}
////////////////////////////////////////////////////////////////////////////////
// Set whether to show contacts
void PhysicsEngine::ShowVisual(bool show)
{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
- this->visual->SetVisible(show);
+ this->visualMsg->visual = show;
+ Simulator::Instance()->SendMessage(*this->visualMsg);
+
+ /* NATY put back in
if (show)
this->contactLinesIter = this->contactLines.begin();
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/physics/PhysicsEngine.hh
===================================================================
--- code/gazebo/branches/dev/server/physics/PhysicsEngine.hh 2010-11-30
02:29:38 UTC (rev 8988)
+++ code/gazebo/branches/dev/server/physics/PhysicsEngine.hh 2010-11-30
05:02:10 UTC (rev 8989)
@@ -44,7 +44,7 @@
class Entity;
class Body;
class XMLConfigNode;
- class Visual;
+ class VisualMsg;
/// \addtogroup gazebo_physics_engine
/** \{
@@ -237,7 +237,7 @@
private: boost::recursive_mutex *mutex;
private: bool locked;
- protected: Visual *visual;
+ protected: VisualMsg *visualMsg;
private: std::vector<OgreDynamicLines*> contactLines;
private: std::vector<OgreDynamicLines*>::iterator contactLinesIter;
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