Revision: 8991
http://playerstage.svn.sourceforge.net/playerstage/?rev=8991&view=rev
Author: natepak
Date: 2010-12-01 21:25:14 +0000 (Wed, 01 Dec 2010)
Log Message:
-----------
Updates
Modified Paths:
--------------
code/gazebo/branches/dev/server/CMakeLists.txt
code/gazebo/branches/dev/server/Entity.cc
code/gazebo/branches/dev/server/Entity.hh
code/gazebo/branches/dev/server/Messages.hh
code/gazebo/branches/dev/server/physics/Body.cc
code/gazebo/branches/dev/server/physics/PhysicsEngine.cc
code/gazebo/branches/dev/server/rendering/UserCamera.cc
code/gazebo/branches/dev/server/rendering/Visual.cc
code/gazebo/branches/dev/server/rendering/Visual.hh
Modified: code/gazebo/branches/dev/server/CMakeLists.txt
===================================================================
--- code/gazebo/branches/dev/server/CMakeLists.txt 2010-12-01 03:43:00 UTC
(rev 8990)
+++ code/gazebo/branches/dev/server/CMakeLists.txt 2010-12-01 21:25:14 UTC
(rev 8991)
@@ -98,6 +98,7 @@
STLLoader.cc
Plugin.cc
Events.cc
+ Box.cc
)
SET (headers Common.hh
@@ -133,6 +134,7 @@
Events.hh
Plugin.hh
Messages.hh
+ Box.hh
)
APPEND_TO_SERVER_HEADERS(${headers})
Modified: code/gazebo/branches/dev/server/Entity.cc
===================================================================
--- code/gazebo/branches/dev/server/Entity.cc 2010-12-01 03:43:00 UTC (rev
8990)
+++ code/gazebo/branches/dev/server/Entity.cc 2010-12-01 21:25:14 UTC (rev
8991)
@@ -25,6 +25,7 @@
* SVN: $Id$
*/
+#include "Messages.hh"
#include "Geom.hh"
#include "Model.hh"
#include "Body.hh"
@@ -53,20 +54,24 @@
std::ostringstream visname;
visname << "Entity_" << this->GetId() << "_VISUAL";
+ this->visualMsg = new VisualMsg();
+ this->visualMsg->id = visname.str();
+
if (this->parent && this->parent->HasType(ENTITY))
{
Entity *ep = (Entity*)(this->parent);
- //if (Simulator::Instance()->GetRenderEngineEnabled())
- this->visualNode = new Visual(visname.str(), ep);
+ this->visualMsg->parentId = ep->GetName();
this->SetStatic(ep->IsStatic());
}
else
{
- //if (Simulator::Instance()->GetRenderEngineEnabled())
- this->visualNode = new Visual(visname.str(), this->GetWorld()->GetScene());
+ this->visualMsg = new VisualMsg();
}
- this->visualNode->SetOwner(this);
+ Simulator::Instance()->SendMessage( *this->visualMsg );
+
+ // NATY: put functionality back in
+ //this->visualNode->SetOwner(this);
}
void Entity::SetName(const std::string &name)
@@ -74,7 +79,8 @@
Common::SetName(name);
std::ostringstream visname;
visname << name << "_VISUAL";
- this->visualNode->SetName(visname.str());
+ this->visualMsg->id = visname.str();
+ Simulator::Instance()->SendMessage( *this->visualMsg );
}
////////////////////////////////////////////////////////////////////////////////
@@ -110,33 +116,14 @@
}
}*/
- if (Simulator::Instance()->GetRenderEngineEnabled())
- {
- if (this->visualNode)
- {
- delete this->visualNode;
- this->visualNode = NULL;
- }
- }
-
- this->visualNode = NULL;
+ this->visualMsg->action = VisualMsg::DELETE;
+ Simulator::Instance()->SendMessage( *this->visualMsg );
+ delete this->visualMsg;
+ this->visualMsg = NULL;
}
-////////////////////////////////////////////////////////////////////////////////
-// Return this entitie's sceneNode
-Visual *Entity::GetVisualNode() const
-{
- return this->visualNode;
-}
////////////////////////////////////////////////////////////////////////////////
-// Set the scene node
-void Entity::SetVisualNode(Visual *visualNode)
-{
- this->visualNode = visualNode;
-}
-
-////////////////////////////////////////////////////////////////////////////////
// Set whether this entity is static: immovable
void Entity::SetStatic(const bool &s)
{
@@ -172,6 +159,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Return the bounding box for the entity
+Box Entity::GetBoundingBox() const
+{
+ return Box(Vector3(0,0,0), Vector3(1,1,1));
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Get the absolute pose of the entity
Pose3d Entity::GetWorldPose() const
{
@@ -295,16 +289,7 @@
// Handle a change of pose
void Entity::PoseChange(bool notify)
{
- if (Simulator::Instance()->GetRenderEngineEnabled())
- {
- // NATY:: Not sure the reason for GetState
- /*if (Simulator::Instance()->GetState() == Simulator::RUN &&
- !this->IsStatic())
- this->visualNode->SetDirty(true, this->GetRelativePose());
- else
- */
- this->visualNode->SetPose(this->GetRelativePose());
- }
+ Simulator::Instance()->SendMessage( msg );
if (notify)
{
Modified: code/gazebo/branches/dev/server/Entity.hh
===================================================================
--- code/gazebo/branches/dev/server/Entity.hh 2010-12-01 03:43:00 UTC (rev
8990)
+++ code/gazebo/branches/dev/server/Entity.hh 2010-12-01 21:25:14 UTC (rev
8991)
@@ -30,6 +30,7 @@
#include <vector>
#include <string>
+#include "Box.hh"
#include "Common.hh"
#include "Pose3d.hh"
#include "Param.hh"
@@ -57,14 +58,6 @@
public: void SetName(const std::string &name);
- /// \brief Return this entity's sceneNode
- /// \return Ogre scene node
- public: Visual *GetVisualNode() const;
-
- /// \brief Set the scene node
- /// \param sceneNode Ogre scene node
- public: void SetVisualNode(Visual *visualNode);
-
/// \brief Set whether this entity is static: immovable
/// \param s Bool, true = static
public: void SetStatic(const bool &s);
@@ -72,7 +65,10 @@
/// \brief Return whether this entity is static
/// \return bool True = static
public: bool IsStatic() const;
-
+
+ /// \brief Return the bounding box for the entity
+ public: Box GetBoundingBox() const;
+
/// \brief Get the absolute pose of the entity
public: virtual Pose3d GetWorldPose() const;
Modified: code/gazebo/branches/dev/server/Messages.hh
===================================================================
--- code/gazebo/branches/dev/server/Messages.hh 2010-12-01 03:43:00 UTC (rev
8990)
+++ code/gazebo/branches/dev/server/Messages.hh 2010-12-01 21:25:14 UTC (rev
8991)
@@ -10,7 +10,7 @@
namespace gazebo
{
- enum MessageType{ INSERT_MODEL, VISUAL, POSE };
+ enum MessageType{ INSERT_MODEL_MSG, VISUAL_MSG, POSE_MSG };
class Message
{
@@ -25,7 +25,7 @@
class InsertModelMsg : public Message
{
- public: InsertModelMsg() : Message(INSERT_MODEL) {}
+ public: InsertModelMsg() : Message(INSERT_MODEL_MSG) {}
public: InsertModelMsg(const InsertModelMsg &m) : Message(m),
xmlStr(m.xmlStr) {}
public: virtual Message *Clone() const
@@ -38,7 +38,7 @@
public: enum ActionType {UPDATE, DELETE};
public: enum RenderType {MESH_RESOURCE, POINTS, LINE_LIST};
- public: VisualMsg() : Message(VISUAL) {}
+ public: VisualMsg() : Message(VISUAL_MSG) {}
public: VisualMsg(const VisualMsg &m) : Message(m) {}
public: virtual Message *Clone() const
{ VisualMsg *msg = new VisualMsg(*this); return msg; }
@@ -57,9 +57,9 @@
public: std::vector<Vector3> points;
};
- /*class UpdatePoseMsg : public Message
+ class UpdatePoseMsg : public Message
{
- public: UpdatePoseMsg() : Message(UPDATE_POSE), id(0) {}
+ public: UpdatePoseMsg() : Message(POSE_MSG), id(0) {}
public: UpdatePoseMsg(const UpdatePoseMsg &m) : Message(m),
id(m.id), pose(m.pose) {}
public: virtual Message *Clone() const
@@ -67,7 +67,7 @@
public: std::string id;
public: Pose3d pose;
- };*/
+ };
}
#endif
Modified: code/gazebo/branches/dev/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/Body.cc 2010-12-01 03:43:00 UTC
(rev 8990)
+++ code/gazebo/branches/dev/server/physics/Body.cc 2010-12-01 21:25:14 UTC
(rev 8991)
@@ -401,7 +401,7 @@
{
msg.points.clear();
- msg.id = visname.str() + "_lineto_" + giter->first->GetName();
+ msg.id = visname.str() + "_lineto_" + giter->first;
msg.points.push_back( Vector3(0,0,0) );
msg.points.push_back(giter->second->GetRelativePose().pos);
Modified: code/gazebo/branches/dev/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/branches/dev/server/physics/PhysicsEngine.cc 2010-12-01
03:43:00 UTC (rev 8990)
+++ code/gazebo/branches/dev/server/physics/PhysicsEngine.cc 2010-12-01
21:25:14 UTC (rev 8991)
@@ -62,7 +62,7 @@
this->visualMsg->parentId.clear();
this->visualMsg->id = "physics_engine_visual";
this->visualMsg->visible = false;
- this->visualMsg->rtShader = false;
+ //this->visualMsg->rtShader = false;
this->visualMsg->castShadows = false;
this->visualMsg->action = VisualMsg::UPDATE;
@@ -197,7 +197,8 @@
/// Add a contact visual
void PhysicsEngine::AddContactVisual(Vector3 pos, Vector3 norm)
{
- if (!RenderState::GetShowContacts())
+ // NATY: put back in
+ /* if (!RenderState::GetShowContacts())
return;
Vector3 e1 = norm.GetPerpendicular(); e1.Normalize();
@@ -231,6 +232,7 @@
if (this->contactLinesIter == this->contactLines.end())
this->contactLinesIter = this->contactLines.begin();
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/dev/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/UserCamera.cc 2010-12-01
03:43:00 UTC (rev 8990)
+++ code/gazebo/branches/dev/server/rendering/UserCamera.cc 2010-12-01
21:25:14 UTC (rev 8991)
@@ -359,9 +359,8 @@
key->setRotation(this->pitchNode->getOrientation());
Vector3 min, max, size;
- Visual *vis = entity->GetVisualNode();
- OgreCreator::GetVisualBounds(vis, min,max);
- size = max-min;
+ Box box = entity->GetBoundingBox();
+ size = box.max-box.min;
double scale = std::max(std::max(size.x, size.y), size.z);
scale += 0.5;
Modified: code/gazebo/branches/dev/server/rendering/Visual.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.cc 2010-12-01 03:43:00 UTC
(rev 8990)
+++ code/gazebo/branches/dev/server/rendering/Visual.cc 2010-12-01 21:25:14 UTC
(rev 8991)
@@ -52,7 +52,7 @@
////////////////////////////////////////////////////////////////////////////////
// Constructor
-Visual::Visual(const std::string &name, Common *parent)
+Visual::Visual(const std::string &name, Visual *parent)
: Common(parent)
{
this->SetName(name);
@@ -63,10 +63,8 @@
stream << this->GetName() << "_VISUAL_" << visualCounter++;
Ogre::SceneNode *pnode = NULL;
- if (this->GetParent()->HasType(ENTITY))
- pnode = ((Entity*)this->GetParent())->GetVisualNode()->GetSceneNode();
- else if ( this->GetParent()->HasType(VISUAL))
- pnode = ((Visual*)this->GetParent())->GetSceneNode();
+ if (parent)
+ pnode = parent->GetSceneNode();
else
gzerr(0) << "Create a visual, invalid parent!!!\n";
Modified: code/gazebo/branches/dev/server/rendering/Visual.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.hh 2010-12-01 03:43:00 UTC
(rev 8990)
+++ code/gazebo/branches/dev/server/rendering/Visual.hh 2010-12-01 21:25:14 UTC
(rev 8991)
@@ -62,7 +62,7 @@
class Visual : public Common //, public Ogre::Any
{
/// \brief Constructor
- public: Visual (const std::string &name, Common *parent);
+ public: Visual (const std::string &name, Visual *parent);
/// \brief Constructor
public: Visual (const std::string &name, Ogre::SceneNode *parent);
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