Revision: 8447
http://playerstage.svn.sourceforge.net/playerstage/?rev=8447&view=rev
Author: natepak
Date: 2009-12-04 18:12:19 +0000 (Fri, 04 Dec 2009)
Log Message:
-----------
Added patches from ROS, and fixed MAPS
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/gui/CMakeLists.txt
code/gazebo/trunk/server/physics/MapShape.cc
code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
code/gazebo/trunk/server/rendering/OgreVisual.cc
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2009-12-04 16:31:55 UTC (rev 8446)
+++ code/gazebo/trunk/CMakeLists.txt 2009-12-04 18:12:19 UTC (rev 8447)
@@ -36,7 +36,7 @@
SET (OGRE_VERSION 1.6.3 CACHE INTERNAL "Ogre version requirement" FORCE)
SET (FREEIMAGE_MAJOR_VERSION 3 CACHE INTERNAL "FreeImage major version
requirement" FORCE)
-SET (FREEIMAGE_MINOR_VERSION 10 CACHE INTERNAL "FreeImage minor version
requirement" FORCE)
+SET (FREEIMAGE_MINOR_VERSION 9 CACHE INTERNAL "FreeImage minor version
requirement" FORCE)
SET (FREEIMAGE_VERSION ${FREEIMAGE_MAJOR_VERSION}.${FREEIMAGE_MINOR_VERSION}.0
CACHE INTERNAL "FreeImage version requirement" FORCE)
SET (ODE_VERSION 0.10.1 CACHE INTERNAL "ODE version requirement" FORCE)
SET (MIN_BOOST_VERSION 1.35.0 CACHE INTERNAL "Boost min version requirement"
FORCE)
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-12-04 16:31:55 UTC
(rev 8446)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-12-04 18:12:19 UTC
(rev 8447)
@@ -7,9 +7,9 @@
INCLUDE (${gazebo_cmake_dir}/FindOde.cmake)
INCLUDE (${gazebo_cmake_dir}/FindFreeimage.cmake)
-if (NOT FLTK_FOUND)
- BUILD_ERROR("FLTK libraries and development files not found. See the
following website for installation instructions: http://fltk.org";)
-endif (NOT FLTK_FOUND)
+#if (NOT FLTK_FOUND)
+# BUILD_ERROR("FLTK libraries and development files not found. See the
following website for installation instructions: http://fltk.org";)
+#endif (NOT FLTK_FOUND)
SET (INCLUDE_WEBGAZEBO ON CACHE BOOL "Build webgazebo" FORCE)
@@ -18,6 +18,11 @@
SET (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to
override automatic detection.")
SET (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to
override automatic detection.")
SET (boost_libraries "" CACHE STRING "Boost libraries. Use this to override
automatic detection.")
+SET (bullet_dynamics_dirs "" CACHE STRING "Bullet Dynamics libraries. Use this
to override automatic detection.")
+SET (bullet_collision_dirs "" CACHE STRING "Bullet Collision libraries. Use
this to override automatic detection.")
+SET (bullet_softbody_dirs "" CACHE STRING "Bullet Softbody libraries. Use this
to override automatic detection.")
+SET (bullet_math_dirs "" CACHE STRING "Bullet LinearMath libraries. Use this
to override automatic detection.")
+SET (bullet_cflags "" CACHE STRING "Bullet Dynamics C compile flags exported
by rospack.")
SET (threadpool_include_dirs "" CACHE STRING "Threadpool include paths. Use
this to override automatic detection.")
########################################
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-12-04 16:31:55 UTC (rev
8446)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-12-04 18:12:19 UTC (rev
8447)
@@ -1,10 +1,12 @@
INCLUDE (${gazebo_cmake_dir}/GazeboUtils.cmake)
-STRING (REPLACE " " ";" threadpool_include_dirs_split
"${threadpool_include_dirs}")
-
########################################
# Include all the search paths for headers
STRING (REPLACE " " ";" threadpool_include_dirs_split
"${threadpool_include_dirs}")
+
+
+message(status
"\n\n\nhihi\n\n\n${CMAKE_SOURCE_DIR}/3rd_party/assimp/include\n\n\n")
+
INCLUDE_DIRECTORIES(
.
${CMAKE_SOURCE_DIR}/libgazebo
@@ -21,6 +23,7 @@
sensors/imu
sensors/ir
sensors/ray
+ ${CMAKE_SOURCE_DIR}/3rd_party/assimp/include
${LIBAVCODEC_PATH}
${LIBAVFORMAT_PATH}
${libtool_include_path}
@@ -33,10 +36,15 @@
)
LINK_DIRECTORIES(
+ ${CMAKE_BINARY_DIR}/3rd_party/assimp
${CMAKE_BINARY_DIR}/libgazebo
${CMAKE_BINARY_DIR}/server/gui
${CMAKE_BINARY_DIR}/server/physics/bullet
${boost_library_dirs}
+ ${bullet_dynamics_dirs}
+ ${bullet_collision_dirs}
+ ${bullet_softbody_dirs}
+ ${bullet_math_dirs}
${freeimage_library_dir}
${gazeboserver_link_dirs}
)
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2009-12-04 16:31:55 UTC (rev 8446)
+++ code/gazebo/trunk/server/Entity.cc 2009-12-04 18:12:19 UTC (rev 8447)
@@ -326,7 +326,8 @@
{
if (Simulator::Instance()->GetRenderEngineEnabled())
{
- if (Simulator::Instance()->GetState() == Simulator::RUN)
+ if (Simulator::Instance()->GetState() == Simulator::RUN &&
+ !this->IsStatic())
this->visualNode->SetDirty(true, this->relativePose);
else
this->visualNode->SetPose(this->relativePose);
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-12-04 16:31:55 UTC (rev 8446)
+++ code/gazebo/trunk/server/Model.cc 2009-12-04 18:12:19 UTC (rev 8447)
@@ -207,7 +207,8 @@
gzthrow("Invalid model type[" + this->type + "]\n");
// Set the relative pose of the model
- this->SetRelativePose( pose );
+ if (!this->IsStatic())
+ this->SetRelativePose( pose );
// Record the model's initial pose (for reseting)
this->SetInitPose(pose);
Modified: code/gazebo/trunk/server/gui/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/gui/CMakeLists.txt 2009-12-04 16:31:55 UTC (rev
8446)
+++ code/gazebo/trunk/server/gui/CMakeLists.txt 2009-12-04 18:12:19 UTC (rev
8447)
@@ -2,6 +2,19 @@
include_directories( ${FLTK_INCLUDE_DIR} )
+LINK_DIRECTORIES(
+ ${CMAKE_BINARY_DIR}/libgazebo
+ ${CMAKE_BINARY_DIR}/server/gui
+ ${CMAKE_BINARY_DIR}/server/physics/bullet
+ ${boost_library_dirs}
+ ${bullet_dynamics_dirs}
+ ${bullet_collision_dirs}
+ ${bullet_softbody_dirs}
+ ${bullet_math_dirs}
+ ${freeimage_library_dir}
+ ${gazeboserver_link_dirs}
+)
+
set (sources Gui.cc
GLWindow.cc
MainMenu.cc
@@ -23,11 +36,12 @@
)
LIST_TO_STRING(GAZEBO_CFLAGS "${gazeboserver_cflags}")
+
set_source_files_properties(${sources} PROPERTIES COMPILE_FLAGS
"${GAZEBO_CFLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE}}")
add_library(gazebo_gui SHARED ${sources})
-target_link_libraries(gazebo_gui ${FLTK_LIBRARIES} )
+target_link_libraries(gazebo_gui ${FLTK_LIBRARIES} BulletDynamics
BulletCollision LinearMath)
set_target_properties(gazebo_gui PROPERTIES OUTPUT_NAME "gazebo_gui" VERSION
${GAZEBO_VERSION})
Modified: code/gazebo/trunk/server/physics/MapShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/MapShape.cc 2009-12-04 16:31:55 UTC
(rev 8446)
+++ code/gazebo/trunk/server/physics/MapShape.cc 2009-12-04 18:12:19 UTC
(rev 8447)
@@ -133,8 +133,9 @@
this->CreateBoxes(this->root);
- if (this->visualNode)
+ /*if (this->visualNode)
this->visualNode->MakeStatic();
+ */
}
@@ -171,6 +172,7 @@
stream << " <xyz>" << x << " " << y << " " << z << "</xyz>";
stream << " <rpy>0 0 0</rpy>";
stream << " <size>" << xSize << " " << ySize << " " << zSize << "</size>";
+ stream << " <static>true</static>";
stream << " <visual>";
stream << " <mesh>unit_box</mesh>";
stream << " <material>" << this->materialP->GetValue() << "</material>";
Modified: code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2009-12-04
16:31:55 UTC (rev 8446)
+++ code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2009-12-04
18:12:19 UTC (rev 8447)
@@ -1,5 +1,47 @@
include (${gazebo_cmake_dir}/GazeboUtils.cmake)
+INCLUDE_DIRECTORIES(
+ .
+ ${CMAKE_SOURCE_DIR}/libgazebo
+ gui
+ physics
+ physics/ode
+ physics/bullet
+ audio_video
+ controllers
+ rendering
+ sensors
+ sensors/camera
+ sensors/contact
+ sensors/imu
+ sensors/ir
+ sensors/ray
+ ${LIBAVCODEC_PATH}
+ ${LIBAVFORMAT_PATH}
+ ${libtool_include_path}
+ ${gazeboserver_include_dirs}
+ ${boost_include_dirs}
+ ${freeimage_include_dir}
+ ${bullet_include_dir}
+ ${threadpool_include_dirs_split}
+ ${FLTK_INCLUDE_DIR}
+)
+
+message(status "\n\nha\n${bullet_dynamics_dirs}\n${boost_library_dirs}\n\n")
+
+LINK_DIRECTORIES(
+ ${CMAKE_BINARY_DIR}/libgazebo
+ ${CMAKE_BINARY_DIR}/server/gui
+ ${CMAKE_BINARY_DIR}/server/physics/bullet
+ ${boost_library_dirs}
+ ${bullet_dynamics_dirs}
+ ${bullet_collision_dirs}
+ ${bullet_softbody_dirs}
+ ${bullet_math_dirs}
+ ${freeimage_library_dir}
+ ${gazeboserver_link_dirs}
+)
+
SET (sources BulletPhysics.cc
BulletGeom.cc
BulletBody.cc
@@ -14,6 +56,8 @@
#BulletRayGeom.cc
)
+add_definitions(${bullet_cflags})
+
#ADD_DEFINITIONS(-DBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX)
ADD_LIBRARY(gazebo_physics_bullet SHARED ${sources})
TARGET_LINK_LIBRARIES( gazebo_physics_bullet BulletDynamics BulletCollision
LinearMath )
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-12-04 16:31:55 UTC
(rev 8446)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-12-04 18:12:19 UTC
(rev 8447)
@@ -126,13 +126,13 @@
this->isStatic = isStatic;
- if (this->isStatic)
- {
+ /*if (this->isStatic)
this->staticGeom = this->sceneNode->getCreator()->createStaticGeometry(
this->GetName() + "_staticgeom");
- }
else
this->staticGeom = NULL;
+ */
+ this->staticGeom = NULL;
}
@@ -640,7 +640,7 @@
obj->setCastShadows(shadows);
}
- if (this->IsStatic())
+ if (this->IsStatic() && this->staticGeom)
this->staticGeom->setCastShadows(shadows);
}
@@ -671,19 +671,19 @@
if (this->ignorePoseUpdates)
return;
+ /*if (this->IsStatic() && this->staticGeom)
+ {
+ this->staticGeom->reset();
+ delete this->staticGeom;
+ this->staticGeom = NULL;
+ //this->staticGeom->setOrigin( Ogre::Vector3(pos.x, pos.y, pos.z) );
+ }*/
+
this->sceneNode->setPosition(pos.x, pos.y, pos.z);
- if (this->IsStatic())
- {
- //this->sceneNode->setParent(this->owner->GetVisualNode()->GetSceneNode()
);
- //this->staticGeom->reset();
- //this->MakeStatic();
- //this->staticGeom->setOrigin( Ogre::Vector3(pos.x, pos.y, pos.z) );
- }
- else
- {
- //std::cout << "Dynamic SceneNodePos[" <<
this->sceneNode->_getDerivedPosition() << "] [" << pos << "]\n";
- }
+ /*if (this->IsStatic())
+ this->MakeStatic();
+ */
}
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