Revision: 9003
http://playerstage.svn.sourceforge.net/playerstage/?rev=9003&view=rev
Author: natepak
Date: 2010-12-06 05:23:17 +0000 (Mon, 06 Dec 2010)
Log Message:
-----------
Fixes
Modified Paths:
--------------
code/gazebo/branches/dev/server/Matrix4.cc
code/gazebo/branches/dev/server/Matrix4.hh
code/gazebo/branches/dev/server/MeshManager.cc
code/gazebo/branches/dev/server/MeshManager.hh
code/gazebo/branches/dev/server/rendering/Visual.cc
Modified: code/gazebo/branches/dev/server/Matrix4.cc
===================================================================
--- code/gazebo/branches/dev/server/Matrix4.cc 2010-12-04 02:43:10 UTC (rev
9002)
+++ code/gazebo/branches/dev/server/Matrix4.cc 2010-12-06 05:23:17 UTC (rev
9003)
@@ -6,16 +6,16 @@
using namespace gazebo;
const Matrix4 Matrix4::IDENTITY(
- 1, 0, 0, 0,
- 0, 1, 0, 0,
- 0, 0, 1, 0,
- 0, 0, 0, 1 );
+ 1.0, 0.0, 0.0, 0.0,
+ 0.0, 1.0, 0.0, 0.0,
+ 0.0, 0.0, 1.0, 0.0,
+ 0.0, 0.0, 0.0, 1.0 );
const Matrix4 Matrix4::ZERO(
- 0, 0, 0, 0,
- 0, 0, 0, 0,
- 0, 0, 0, 0,
- 0, 0, 0, 0 );
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0 );
////////////////////////////////////////////////////////////////////////////////
@@ -53,6 +53,11 @@
this->m[2][1] = v21;
this->m[2][2] = v22;
this->m[2][3] = v23;
+
+ this->m[3][0] = v30;
+ this->m[3][1] = v31;
+ this->m[3][2] = v32;
+ this->m[3][3] = v33;
}
////////////////////////////////////////////////////////////////////////////////
@@ -137,7 +142,10 @@
Vector3 Matrix4::TransformAffine( const Vector3 &v ) const
{
if (!this->IsAffine())
+ {
+ std::cout << "****\n" << *this << "***\n";
gzthrow("Not and affine matrix");
+ }
return Vector3(
this->m[0][0]*v.x + this->m[0][1]*v.y + this->m[0][2]*v.z +
this->m[0][3],
Modified: code/gazebo/branches/dev/server/Matrix4.hh
===================================================================
--- code/gazebo/branches/dev/server/Matrix4.hh 2010-12-04 02:43:10 UTC (rev
9002)
+++ code/gazebo/branches/dev/server/Matrix4.hh 2010-12-06 05:23:17 UTC (rev
9003)
@@ -39,6 +39,8 @@
}
out << "\n";
}
+
+ return out;
}
public: static const Matrix4 IDENTITY;
Modified: code/gazebo/branches/dev/server/MeshManager.cc
===================================================================
--- code/gazebo/branches/dev/server/MeshManager.cc 2010-12-04 02:43:10 UTC
(rev 9002)
+++ code/gazebo/branches/dev/server/MeshManager.cc 2010-12-06 05:23:17 UTC
(rev 9003)
@@ -314,6 +314,8 @@
mesh->SetName(name);
this->meshes.insert( std::make_pair(name, mesh) );
+ std::cout << "Plane Name[" << name << "]\n";
+
SubMesh *subMesh = new SubMesh();
mesh->AddSubMesh(subMesh);
@@ -326,13 +328,11 @@
Matrix4 xlate, xform, rot;
xlate = rot = Matrix4::IDENTITY;
- std::cout << xlate << "\n";
-
Matrix3 rot3;
rot3.SetFromAxes(xAxis, yAxis, zAxis);
rot = rot3;
-
+
xlate.SetTrans( normal * -d );
xform = xlate * rot;
@@ -345,9 +345,9 @@
double xTex = uvTile.x / segments.x;
double yTex = uvTile.y / segments.y;
- for (int y = 0; y < segments.y; y++)
+ for (int y = 0; y <= segments.y; y++)
{
- for (int x = 0; x < segments.x; x++)
+ for (int x = 0; x <= segments.x; x++)
{
// Compute the position of the vertex
vec.x = (x * xSpace) - halfWidth;
@@ -356,6 +356,8 @@
vec = xform.TransformAffine(vec);
subMesh->AddVertex(vec);
+ std::cout << "Vec[" << vec << "]\n";
+
// Compute the normal
vec = xform.TransformAffine(norm);
subMesh->AddNormal(vec);
@@ -364,6 +366,8 @@
subMesh->AddTexCoord(x * xTex, 1 - (y * yTex));
}
}
+
+ this->Tesselate2DMesh( subMesh, segments.x + 1, segments.y + 1, false );
}
////////////////////////////////////////////////////////////////////////////////
@@ -905,3 +909,70 @@
mesh->RecalculateNormals();
}
+void MeshManager::Tesselate2DMesh(SubMesh *sm, int meshWidth, int meshHeight,
+ bool doubleSided)
+{
+ int vInc, uInc, v, u, iterations;
+ int vCount, uCount;
+
+ if (doubleSided)
+ {
+ iterations = 2;
+ vInc = 1;
+ v = 0; // Start with the front
+ }
+ else
+ {
+ iterations = 1;
+ vInc = 1;
+ v = 0;
+ }
+
+ int v1, v2, v3;
+
+ while (iterations--)
+ {
+ // Make tris in a zigzag pattern (compatible with strips)
+ u = 0;
+ uInc = 1; // Start with moving +u
+
+ vCount = meshHeight - 1;
+ while (vCount--)
+ {
+ uCount = meshWidth - 1;
+ while (uCount--)
+ {
+ // First tri in cell
+ v1 = ((v + vInc) * meshWidth) + u;
+ v2 = (v * meshWidth) + u;
+ v3 = ((v + vInc) * meshWidth) + (u + uInc);
+ // Output indexes
+ sm->AddIndex(v1);
+ sm->AddIndex(v2);
+ sm->AddIndex(v3);
+ std::cout << v1 <<" " << v2 <<" " << v3 << "\n";
+ // Second Tri in cell
+ v1 = ((v + vInc) * meshWidth) + (u + uInc);
+ v2 = (v * meshWidth) + u;
+ v3 = (v * meshWidth) + (u + uInc);
+ std::cout << v1 <<" " << v2 <<" " << v3 << "\n";
+ // Output indexes
+ sm->AddIndex(v1);
+ sm->AddIndex(v2);
+ sm->AddIndex(v3);
+
+ // Next column
+ u += uInc;
+ }
+
+ // Next row
+ v += vInc;
+ u = 0;
+ }
+
+ // Reverse vInc for double sided
+ v = meshHeight - 1;
+ vInc = -vInc;
+ }
+}
+
Modified: code/gazebo/branches/dev/server/MeshManager.hh
===================================================================
--- code/gazebo/branches/dev/server/MeshManager.hh 2010-12-04 02:43:10 UTC
(rev 9002)
+++ code/gazebo/branches/dev/server/MeshManager.hh 2010-12-06 05:23:17 UTC
(rev 9003)
@@ -15,6 +15,7 @@
class STLLoader;
class Mesh;
class Plane;
+ class SubMesh;
class MeshManager : public SingletonT<MeshManager>
{
@@ -80,6 +81,9 @@
const Vector2<double> &segments,
const Vector2<double> uvTile);
+ private: void Tesselate2DMesh(SubMesh *sm, int meshWidth, int meshHeight,
+ bool doubleSided);
+
/// \brief Create a Camera mesh
public: void CreateCamera(const std::string &name, float scale);
Modified: code/gazebo/branches/dev/server/rendering/Visual.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/Visual.cc 2010-12-04 02:43:10 UTC
(rev 9002)
+++ code/gazebo/branches/dev/server/rendering/Visual.cc 2010-12-06 05:23:17 UTC
(rev 9003)
@@ -227,10 +227,8 @@
if (msg->plane.normal != Vector3(0,0,0))
{
MeshManager::Instance()->CreatePlane(msg->id, msg->plane,
- Vector2<double>(10,10), Vector2<double>(msg->uvTile_x, msg->uvTile_y)
);
-
- // NATY: Fix
- //msg->mesh = OgreCreator::CreatePlane( msg->plane.normal,
msg->plane.size, Vector2<double>(10,10), Vector2<double>(msg->uvTile_x,
msg->uvTile_y), msg->material, msg->castShadows, this, msg->id);
+ Vector2<double>(2,2), Vector2<double>(msg->uvTile_x, msg->uvTile_y) );
+ msg->mesh = msg->id;
}
this->meshNameP->SetValue(msg->mesh);
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