Revision: 8532
http://playerstage.svn.sourceforge.net/playerstage/?rev=8532&view=rev
Author: natepak
Date: 2010-01-27 16:37:21 +0000 (Wed, 27 Jan 2010)
Log Message:
-----------
Added more callback functions
Modified Paths:
--------------
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/Joint.cc
code/gazebo/trunk/server/physics/Joint.hh
code/gazebo/trunk/server/physics/PhysicsEngine.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/server/rendering/OgreVisual.hh
code/gazebo/trunk/worlds/pioneer2dx.world
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-01-27 01:47:07 UTC (rev 8531)
+++ code/gazebo/trunk/server/World.cc 2010-01-27 16:37:21 UTC (rev 8532)
@@ -327,7 +327,6 @@
}
}
-
{
//DiagnosticTimer timer("World::Update Models");
@@ -685,14 +684,7 @@
void World::SetShowBoundingBoxes(bool show)
{
this->showBoundingBoxes = show;
-
- std::vector< Geom *>::iterator iter;
-
- for (iter = this->geometries.begin(); iter != this->geometries.end(); iter++)
- {
- (*iter)->ShowBoundingBox(this->showBoundingBoxes);
- }
-
+ this->showBoundingBoxesSignal(this->showBoundingBoxes);
}
////////////////////////////////////////////////////////////////////////////////
@@ -707,13 +699,7 @@
void World::SetShowJoints(bool show)
{
this->showJoints = show;
-
- std::vector< Geom *>::iterator iter;
-
- for (iter = this->geometries.begin(); iter != this->geometries.end(); iter++)
- {
- (*iter)->ShowJoints(this->showJoints);
- }
+ this->showJointsSignal(show);
}
////////////////////////////////////////////////////////////////////////////////
@@ -791,13 +777,6 @@
{
this->showPhysics = show;
this->showPhysicsSignal(this->showPhysics);
-
- /*std::vector< Geom*>::iterator iter;
-
- for (iter = this->geometries.begin(); iter != this->geometries.end(); iter++)
- {
- (*iter)->ShowPhysics(this->showPhysics);
- }*/
}
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2010-01-27 01:47:07 UTC (rev 8531)
+++ code/gazebo/trunk/server/World.hh 2010-01-27 16:37:21 UTC (rev 8532)
@@ -304,7 +304,21 @@
showPhysicsSignal.connect(subscriber);
}
+ /// \brief Connect a boost::slot the the show joints signal
+ public: template<typename T>
+ void ConnectShowJointsSignal( T subscriber )
+ {
+ showJointsSignal.connect(subscriber);
+ }
+ /// \brief Connect a boost::slot the the show bounding boxes signal
+ public: template<typename T>
+ void ConnectShowBoundingBoxesSignal( T subscriber )
+ {
+ showBoundingBoxesSignal.connect(subscriber);
+ }
+
+
/// \brief Get the names of interfaces defined in the tree of a model
private: void GetInterfaceNames(Entity* m, std::vector<std::string>& list);
@@ -358,6 +372,8 @@
private: boost::signal<void (bool)> showContactsSignal;
private: boost::signal<void (bool)> wireframeSignal;
private: boost::signal<void (bool)> showPhysicsSignal;
+ private: boost::signal<void (bool)> showJointsSignal;
+ private: boost::signal<void (bool)> showBoundingBoxesSignal;
private: std::deque<WorldState> worldStates;
private: std::deque<WorldState>::iterator worldStatesInsertIter;
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2010-01-27 01:47:07 UTC (rev
8531)
+++ code/gazebo/trunk/server/physics/Geom.cc 2010-01-27 16:37:21 UTC (rev
8532)
@@ -78,6 +78,8 @@
Param::End();
World::Instance()->ConnectShowPhysicsSignal( boost::bind(&Geom::ShowPhysics,
this, _1) );
+ World::Instance()->ConnectShowJointsSignal( boost::bind(&Geom::ShowJoints,
this, _1) );
+ World::Instance()->ConnectShowBoundingBoxesSignal(
boost::bind(&Geom::ShowBoundingBox, this, _1) );
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2010-01-27 01:47:07 UTC (rev
8531)
+++ code/gazebo/trunk/server/physics/Joint.cc 2010-01-27 16:37:21 UTC (rev
8532)
@@ -63,6 +63,9 @@
this->body2 = NULL;
this->physics = World::Instance()->GetPhysicsEngine();
+
+ World::Instance()->ConnectShowJointsSignal(
+ boost::bind(&Joint::ShowJoints, this, _1) );
}
@@ -216,15 +219,14 @@
/// Update the joint
void Joint::Update()
{
- this->anchorPos = (Pose3d(**(this->anchorOffsetP),Quatern()) +
- this->anchorBody->GetAbsPose()).pos;
-
//TODO: Evaluate impact of this code on performance
- if (this->visual)
+ if (this->visual && this->visual->GetVisible())
{
- this->visual->SetVisible(World::Instance()->GetShowJoints());
+ this->anchorPos = (Pose3d(**(this->anchorOffsetP),Quatern()) +
+ this->anchorBody->GetAbsPose()).pos;
this->visual->SetPosition(this->anchorPos);
+
if (this->body1)
this->line1->SetPoint(1, this->body1->GetAbsPose().pos -
this->anchorPos);
@@ -234,6 +236,14 @@
}
//////////////////////////////////////////////////////////////////////////////
+// Set the joint to show visuals
+void Joint::ShowJoints(bool s)
+{
+ if (this->visual)
+ this->visual->SetVisible(s);
+}
+
+//////////////////////////////////////////////////////////////////////////////
/// Reset the joint
void Joint::Reset()
{
Modified: code/gazebo/trunk/server/physics/Joint.hh
===================================================================
--- code/gazebo/trunk/server/physics/Joint.hh 2010-01-27 01:47:07 UTC (rev
8531)
+++ code/gazebo/trunk/server/physics/Joint.hh 2010-01-27 16:37:21 UTC (rev
8532)
@@ -70,6 +70,9 @@
/// \brief Update the joint
public: void Update();
+ /// \brief Set the joint to show visuals
+ public: void ShowJoints(bool s);
+
/// \brief Reset the joint
public: virtual void Reset();
Modified: code/gazebo/trunk/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/trunk/server/physics/PhysicsEngine.cc 2010-01-27 01:47:07 UTC
(rev 8531)
+++ code/gazebo/trunk/server/physics/PhysicsEngine.cc 2010-01-27 16:37:21 UTC
(rev 8532)
@@ -102,8 +102,6 @@
{
}
-
-
////////////////////////////////////////////////////////////////////////////////
/// Return the gavity vector
Vector3 PhysicsEngine::GetGravity() const
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-01-27 01:47:07 UTC
(rev 8531)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-01-27 16:37:21 UTC
(rev 8532)
@@ -254,19 +254,14 @@
// Update the dynamical model
if (**this->quickStepP)
- {
dWorldQuickStep(this->worldId, (**this->stepTimeP).Double());
- }
else
- {
dWorldStep( this->worldId, (**this->stepTimeP).Double() );
- }
// Very important to clear out the contact group
dJointGroupEmpty( this->contactGroup );
this->UnlockMutex();
-
}
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2010-01-27 01:47:07 UTC
(rev 8531)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2010-01-27 16:37:21 UTC
(rev 8532)
@@ -64,6 +64,7 @@
isStatic = this->owner->IsStatic();
}
+ this->visible = true;
this->ConstructorHelper(pnode, isStatic);
}
@@ -655,8 +656,15 @@
return;
this->sceneNode->setVisible( visible, cascade );
+ this->visible = visible;
}
+////////////////////////////////////////////////////////////////////////////////
+/// Get whether the visual is visible
+bool OgreVisual::GetVisible() const
+{
+ return this->visible;
+}
////////////////////////////////////////////////////////////////////////////////
// Set the position of the visual
Modified: code/gazebo/trunk/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.hh 2010-01-27 01:47:07 UTC
(rev 8531)
+++ code/gazebo/trunk/server/rendering/OgreVisual.hh 2010-01-27 16:37:21 UTC
(rev 8532)
@@ -106,6 +106,9 @@
/// \param cascade setting this parameter in children too
public: void SetVisible(bool visible, bool cascade=true);
+ /// \brief Get whether the visual is visible
+ public: bool GetVisible() const;
+
/// \brief Set the position of the visual
public: void SetPosition( const Vector3 &pos);
@@ -191,6 +194,7 @@
private: bool isStatic;
private: Ogre::StaticGeometry *staticGeom;
+ private: bool visible;
};
}
Modified: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world 2010-01-27 01:47:07 UTC (rev
8531)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2010-01-27 16:37:21 UTC (rev
8532)
@@ -19,14 +19,14 @@
<verbosity>4</verbosity>
<physics:ode>
- <stepTime>0.0005</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
<erp>0.3</erp>
<!-- updateRate: <0 == throttle simTime to match realTime.
0 == No throttling
>0 == Frequency at which to throttle the sim -->
- <updateRate>-1</updateRate>
+ <updateRate>0</updateRate>
</physics:ode>
<rendering:gui>
@@ -145,7 +145,6 @@
</include>
</model:physical>
-
<model:physical name="ramp_model">
<xyz>0 2 0.0725</xyz>
<rpy>-20 0 0</rpy>
@@ -215,5 +214,4 @@
</light>
</model:renderable>
-
</gazebo:world>
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