Revision: 8661
http://playerstage.svn.sourceforge.net/playerstage/?rev=8661&view=rev
Author: natepak
Date: 2010-05-06 17:49:44 +0000 (Thu, 06 May 2010)
Log Message:
-----------
Added signals to the World update, and show physics display coord axes
Modified Paths:
--------------
code/gazebo/trunk/server/Mesh.hh
code/gazebo/trunk/server/MeshManager.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/rendering/OgreVisual.cc
code/gazebo/trunk/server/rendering/OgreVisual.hh
code/gazebo/trunk/worlds/simpleshapes.world
Modified: code/gazebo/trunk/server/Mesh.hh
===================================================================
--- code/gazebo/trunk/server/Mesh.hh 2010-05-06 15:26:25 UTC (rev 8660)
+++ code/gazebo/trunk/server/Mesh.hh 2010-05-06 17:49:44 UTC (rev 8661)
@@ -163,6 +163,7 @@
private: std::vector< Vector2<double> > texCoords;
private: std::vector<unsigned int> indices;
+
private: int materialIndex;
};
}
Modified: code/gazebo/trunk/server/MeshManager.cc
===================================================================
--- code/gazebo/trunk/server/MeshManager.cc 2010-05-06 15:26:25 UTC (rev
8660)
+++ code/gazebo/trunk/server/MeshManager.cc 2010-05-06 17:49:44 UTC (rev
8661)
@@ -32,6 +32,7 @@
this->CreateCylinder("unit_cylinder", 0.5, 1.0, 1, 32);
this->CreateCone("unit_cone", 0.5, 1.0, 5, 32);
this->CreateCamera("unit_camera", 0.5);
+ this->CreateCylinder("axis_cylinder",0.005,0.5,1,32);
this->CreateTube("selection_tube", 1.0, 1.2, 0.01, 1, 64);
}
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2010-05-06 15:26:25 UTC (rev 8660)
+++ code/gazebo/trunk/server/Model.cc 2010-05-06 17:49:44 UTC (rev 8661)
@@ -378,10 +378,12 @@
for (biter = this->children.begin(); biter!=this->children.end(); biter++)
{
- if (*biter && (*biter)->GetType() == Entity::BODY)
+ if (*biter)
{
- Body *body = (Body*)*biter;
- body->Init();
+ if ((*biter)->GetType() == Entity::BODY)
+ ((Body*)*biter)->Init();
+ else if ((*biter)->GetType() == Entity::MODEL)
+ ((Model*)*biter)->Init();
}
}
@@ -399,7 +401,6 @@
Body* cb = this->GetCanonicalBody();
if (cb != NULL)
cb->SetCanonicalModel(this);
-
}
////////////////////////////////////////////////////////////////////////////////
@@ -415,7 +416,7 @@
std::map<std::string, Controller* >::iterator contIter;
JointContainer::iterator jointIter;
- //this->updateSignal();
+ this->updateSignal();
{
//DiagnosticTimer timer("Model[" + this->GetName() + "] Bodies Update ");
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2010-05-06 15:26:25 UTC (rev 8660)
+++ code/gazebo/trunk/server/Model.hh 2010-05-06 17:49:44 UTC (rev 8661)
@@ -247,9 +247,6 @@
/// \brief Initial pose of the model
private: Pose3d initPose;
- /// \brief Map of the bodies. std::string == body_name
- protected: std::map<std::string, Body* > bodies;
-
/// \brief Map of the joints
//protected: std::map<std::string, Joint* > joints;
protected: std::vector<Joint* > joints;
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-05-06 15:26:25 UTC (rev 8660)
+++ code/gazebo/trunk/server/World.cc 2010-05-06 17:49:44 UTC (rev 8661)
@@ -311,6 +311,8 @@
// Update the world
void World::Update()
{
+ this->worldUpdateStartSignal();
+
if (this->simPauseTime > 0)
{
if (Simulator::Instance()->GetSimTime() >= this->simPauseTime)
@@ -366,6 +368,8 @@
}
this->factory->Update();
+
+ this->worldUpdateEndSignal();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2010-05-06 15:26:25 UTC (rev 8660)
+++ code/gazebo/trunk/server/World.hh 2010-05-06 17:49:44 UTC (rev 8661)
@@ -328,7 +328,26 @@
void DisconnectShowBoundingBoxesSignal( T subscriber )
{ showBoundingBoxesSignal.disconnect(subscriber); }
+ /// \brief Connect a boost::slot the the world update start signal
+ public: template<typename T>
+ boost::signals::connection ConnectWorldUpdateStartSignal(T
subscriber)
+ { return worldUpdateStartSignal.connect(subscriber); }
+ /// \brief Disconnect a boost::slot the the world update start signal
+ public: template<typename T>
+ void DisconnectWorldUpdateStartSignal( T subscriber )
+ { worldUpdateStartSignal.disconnect(subscriber); }
+ /// \brief Connect a boost::slot the the world update end signal
+ public: template<typename T>
+ boost::signals::connection ConnectWorldUpdateEndSignal(T subscriber)
+ { return worldUpdateEndSignal.connect(subscriber); }
+ /// \brief Disconnect a boost::slot the the world update end signal
+ public: template<typename T>
+ void DisconnectWorldUpdateEndSignal( T subscriber )
+ { worldUpdateEndSignal.disconnect(subscriber); }
+
+
+
/// \brief Get the names of interfaces defined in the tree of a model
private: void GetInterfaceNames(Entity* m, std::vector<std::string>& list);
@@ -379,6 +398,9 @@
private: boost::signal<void (bool)> showJointsSignal;
private: boost::signal<void (bool)> showBoundingBoxesSignal;
+ private: boost::signal<void ()> worldUpdateStartSignal;
+ private: boost::signal<void ()> worldUpdateEndSignal;
+
private: std::deque<WorldState> worldStates;
private: std::deque<WorldState>::iterator worldStatesInsertIter;
private: std::deque<WorldState>::iterator worldStatesEndIter;
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2010-05-06 15:26:25 UTC (rev
8660)
+++ code/gazebo/trunk/server/physics/Body.cc 2010-05-06 17:49:44 UTC (rev
8661)
@@ -368,6 +368,8 @@
this->linearAccel.Set(0,0,0);
this->angularAccel.Set(0,0,0);
+ std::cout << this->GetName() << "Mass[" << this->mass.GetAsDouble() << "]\n";
+
/// Attach mesh for CG visualization
/// Add a renderable visual for CG, make visible in Update()
if (this->mass.GetAsDouble() > 0.0)
@@ -375,9 +377,12 @@
std::ostringstream visname;
visname << this->GetCompleteScopedName() + ":" + this->GetName() <<
"_CGVISUAL" ;
+ std::cout << "CG Visual Name[" << visname.str() << "]\n";
if (this->cgVisual == NULL)
+ {
this->cgVisual = OgreCreator::Instance()->CreateVisual(visname.str(),
this->comEntity->GetVisualNode());
+ }
else
this->cgVisual->DetachObjects();
@@ -386,6 +391,7 @@
this->cgVisual->AttachMesh("body_cg");
this->cgVisual->SetMaterial("Gazebo/Red");
this->cgVisual->SetCastShadows(false);
+ this->cgVisual->AttachAxes();
std::map< std::string, Geom* >::iterator giter;
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2010-05-06 15:26:25 UTC
(rev 8660)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2010-05-06 17:49:44 UTC
(rev 8661)
@@ -522,8 +522,52 @@
}
+void OgreVisual::AttachAxes()
+{
+ std::ostringstream nodeName;
+ nodeName << this->sceneNode->getName()<<"_AXES_NODE";
+
+ if (!this->sceneNode->getCreator()->hasEntity("axis_cylinder"))
+ OgreCreator::InsertMesh(MeshManager::Instance()->GetMesh("axis_cylinder"));
+ Ogre::SceneNode *node =
this->sceneNode->createChildSceneNode(nodeName.str());
+ Ogre::SceneNode *x, *y, *z;
+
+ x = node->createChildSceneNode(nodeName.str() + "_axisX");
+ x->setInheritScale(true);
+ x->translate(.25,0,0);
+ x->yaw(Ogre::Radian(M_PI/2.0));
+
+ y = node->createChildSceneNode(nodeName.str() + "_axisY");
+ y->setInheritScale(true);
+ y->translate(0,.25,0);
+ y->pitch(Ogre::Radian(M_PI/2.0));
+
+ z = node->createChildSceneNode(nodeName.str() + "_axisZ");
+ z->translate(0,0,.25);
+ z->setInheritScale(true);
+
+ Ogre::MovableObject *xobj, *yobj, *zobj;
+
+ xobj =
(Ogre::MovableObject*)(node->getCreator()->createEntity(nodeName.str()+"X_AXIS",
"axis_cylinder"));
+ xobj->setCastShadows(false);
+ ((Ogre::Entity*)xobj)->setMaterialName("Gazebo/Red");
+
+ yobj =
(Ogre::MovableObject*)(node->getCreator()->createEntity(nodeName.str()+"Y_AXIS",
"axis_cylinder"));
+ yobj->setCastShadows(false);
+ ((Ogre::Entity*)yobj)->setMaterialName("Gazebo/Green");
+
+ zobj =
(Ogre::MovableObject*)(node->getCreator()->createEntity(nodeName.str()+"Z_AXIS",
"axis_cylinder"));
+ zobj->setCastShadows(false);
+ ((Ogre::Entity*)zobj)->setMaterialName("Gazebo/Blue");
+
+ x->attachObject(xobj);
+ y->attachObject(yobj);
+ z->attachObject(zobj);
+}
+
+
////////////////////////////////////////////////////////////////////////////////
/// Set the transparency
void OgreVisual::SetTransparency( float trans )
Modified: code/gazebo/trunk/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.hh 2010-05-06 15:26:25 UTC
(rev 8660)
+++ code/gazebo/trunk/server/rendering/OgreVisual.hh 2010-05-06 17:49:44 UTC
(rev 8661)
@@ -96,6 +96,8 @@
/// \brief Set the material
public: void SetMaterial(const std::string &materialName);
+ public: void AttachAxes();
+
/// \brief Set the transparency
public: void SetTransparency( float trans );
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2010-05-06 15:26:25 UTC (rev
8660)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2010-05-06 17:49:44 UTC (rev
8661)
@@ -48,7 +48,7 @@
<model:physical name="sphere1_model">
<xyz>0 0 0.2</xyz>
- <rpy>45 0.0 0.0</rpy>
+ <rpy>0 0.0 0.0</rpy>
<static>false</static>
<body:sphere name="sphere1_body">
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