[Playerstage-commit] code/gazebo/server/bodies BaseGeom.cc, 1.15.2.3, 1.15.2.4 BoxGeom.cc, 1.20.2.5, 1.20.2.6 CylinderGeom.cc, 1.20.2.4, 1.20.2.5 Geom.cc, 1.45.2.4, 1.45.2.5 SphereGeom.cc, 1.15.2.4, 1.15.2.5

[Nathan K. <na...@us...>]

Update of /cvsroot/playerstage/code/gazebo/server/bodies
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv20953/server/bodies

Modified Files:
      Tag: ogre
	BaseGeom.cc BoxGeom.cc CylinderGeom.cc Geom.cc SphereGeom.cc 
Log Message:
Fixed the pioneer2dx model to use the ogre rendering engine.

Index: SphereGeom.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/SphereGeom.cc,v
retrieving revision 1.15.2.4
retrieving revision 1.15.2.5
diff -C2 -d -r1.15.2.4 -r1.15.2.5
*** SphereGeom.cc	26 Aug 2006 22:01:27 -0000	1.15.2.4
--- SphereGeom.cc	27 Aug 2006 23:04:55 -0000	1.15.2.5
***************
*** 53,57 ****
  
    // Set the position of the sphere
!   this->SetMeshPosition(GzVectorSet(0,radius,0));
  
    // Allow the sphere to cast shadows
--- 53,57 ----
  
    // Set the position of the sphere
!   //this->SetMeshPosition(GzVectorSet(0,radius,0));
  
    // Allow the sphere to cast shadows

Index: BoxGeom.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/BoxGeom.cc,v
retrieving revision 1.20.2.5
retrieving revision 1.20.2.6
diff -C2 -d -r1.20.2.5 -r1.20.2.6
*** BoxGeom.cc	26 Aug 2006 22:01:27 -0000	1.20.2.5
--- BoxGeom.cc	27 Aug 2006 23:04:55 -0000	1.20.2.6
***************
*** 53,57 ****
  
    // Set the position of the box
!   this->SetMeshPosition(GzVectorSet(size.x/2.0,size.y/2.0,size.z/2.0));
  
    // Allow the box to cast shadows
--- 53,57 ----
  
    // Set the position of the box
!   //this->SetMeshPosition(GzVectorSet(0,size.y/2.0,0));
  
    // Allow the box to cast shadows

Index: BaseGeom.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/BaseGeom.cc,v
retrieving revision 1.15.2.3
retrieving revision 1.15.2.4
diff -C2 -d -r1.15.2.3 -r1.15.2.4
*** BaseGeom.cc	26 Aug 2006 22:01:27 -0000	1.15.2.3
--- BaseGeom.cc	27 Aug 2006 23:04:55 -0000	1.15.2.4
***************
*** 270,278 ****
    dGeomSetQuaternion( this->geomId, q);
  
    // Update the bodies CoM
!   if (updateCoM)
      this->body->UpdateCoM();
  
-   printf("Setting Geom Pose[%f %f %f]\n",pose.pos.x, pose.pos.y, pose.pos.z);
    this->geomSceneNode->setPosition(pose.pos.x, pose.pos.y, pose.pos.z);
    this->geomSceneNode->setOrientation(pose.rot.u,pose.rot.x, pose.rot.y, pose.rot.z);
--- 270,279 ----
    dGeomSetQuaternion( this->geomId, q);
  
+   // TODO: Uncomment this and make it work
    // Update the bodies CoM
!   /*if (updateCoM)
      this->body->UpdateCoM();
+     */
  
    this->geomSceneNode->setPosition(pose.pos.x, pose.pos.y, pose.pos.z);
    this->geomSceneNode->setOrientation(pose.rot.u,pose.rot.x, pose.rot.y, pose.rot.z);

Index: Geom.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/Geom.cc,v
retrieving revision 1.45.2.4
retrieving revision 1.45.2.5
diff -C2 -d -r1.45.2.4 -r1.45.2.5
*** Geom.cc	26 Aug 2006 22:01:27 -0000	1.45.2.4
--- Geom.cc	27 Aug 2006 23:04:55 -0000	1.45.2.5
***************
*** 116,120 ****
  void Geom::ScaleMesh(GzVector scale)
  {
!   this->meshSceneNode->scale(scale.x,scale.y,scale.z);
  }
  
--- 116,120 ----
  void Geom::ScaleMesh(GzVector scale)
  {
!   this->meshSceneNode->setScale(scale.x,scale.y,scale.z);
  }
  

Index: CylinderGeom.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/CylinderGeom.cc,v
retrieving revision 1.20.2.4
retrieving revision 1.20.2.5
diff -C2 -d -r1.20.2.4 -r1.20.2.5
*** CylinderGeom.cc	26 Aug 2006 22:01:27 -0000	1.20.2.4
--- CylinderGeom.cc	27 Aug 2006 23:04:55 -0000	1.20.2.5
***************
*** 57,61 ****
  
    // Set the default position of the cylinder
!   this->SetMeshPosition(GzVectorSet(0,length,0));
  
    // Allow it to cast shadows
--- 57,61 ----
  
    // Set the default position of the cylinder
!   //this->SetMeshPosition(GzVectorSet(0,length,0));
  
    // Allow it to cast shadows