[Playerstage-commit] SF.net SVN: playerstage: [6395] code/gazebo/trunk/server

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

Revision: 6395
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6395&view=rev
Author:   natepak
Date:     2008-05-02 10:11:43 -0700 (Fri, 02 May 2008)

Log Message:
-----------
Throttled the rendering and physics update

Modified Paths:
--------------
    code/gazebo/trunk/server/Simulator.cc
    code/gazebo/trunk/server/Simulator.hh
    code/gazebo/trunk/server/gui/Gui.cc
    code/gazebo/trunk/server/gui/StatusBar.cc

Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc	2008-05-02 14:32:17 UTC (rev 6394)
+++ code/gazebo/trunk/server/Simulator.cc	2008-05-02 17:11:43 UTC (rev 6395)
@@ -189,41 +189,59 @@
   gazebo::World::Instance()->Fini();
 }
 
-////////////////////////////////////////////////////////////////////////////////
-/// Update the simulation
-void Simulator::Update()
-{
-  double step= World::Instance()->GetPhysicsEngine()->GetStepTime();
 
-  this->simTime += step;
-
-  // Update the physics engine
-  if (!this->GetUserPause() && !this->GetUserStep() ||
-      (this->GetUserStep() && this->GetUserStepInc()))
-  {
-    this->iterations++;
-    this->pause=false;
-    this->SetUserStepInc(!this->GetUserStepInc());
-  }
-  else
-  {
-    this->pauseTime += step;
-    this->pause=true;
-  }
-
-}
-
 ////////////////////////////////////////////////////////////////////////////////
 /// Main simulation loop, when this loop ends the simulation finish
 void Simulator::MainLoop()
 {
+  double step= World::Instance()->GetPhysicsEngine()->GetStepTime();
+  double currTime;
+  double elapsedTime;
+
   while (!this->userQuit)
   {
-    this->Update();  //global simulation
-    World::Instance()->Update(); //physics
+    currTime = this->GetRealTime();
 
-    gazebo::OgreAdaptor::Instance()->Render(); //rendering
-    this->gui->Update(); //GUI
+    if ((currTime - this->prevPhysicsTime) >= step) 
+    {
+      this->simTime += step;
+
+      // Update the physics engine
+      if (!this->GetUserPause() && !this->GetUserStep() ||
+          (this->GetUserStep() && this->GetUserStepInc()))
+      {
+        this->iterations++;
+        this->pause=false;
+        this->SetUserStepInc(!this->GetUserStepInc());
+      }
+      else
+      {
+        this->pauseTime += step;
+        this->pause=true;
+      }
+
+      World::Instance()->Update(); //physics
+
+      this->prevPhysicsTime = this->GetRealTime();
+    }
+
+    // Update the rendering
+    if (currTime - this->prevRenderTime > 0.02)
+    {
+      gazebo::OgreAdaptor::Instance()->Render(); 
+      this->prevRenderTime = this->GetRealTime();
+    }
+
+    // Update the gui
+    this->gui->Update();
+
+    elapsedTime = (this->GetRealTime()-currTime)*2.0;
+
+    // Wait if we're going too fast
+    if ( elapsedTime < 0.02 )
+    {
+      usleep( (0.02 - elapsedTime) * 1e6  );
+    }
   }
 }
 

Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh	2008-05-02 14:32:17 UTC (rev 6394)
+++ code/gazebo/trunk/server/Simulator.hh	2008-05-02 17:11:43 UTC (rev 6395)
@@ -71,9 +71,6 @@
     /// \brief Finalize the simulation
     public: void Fini( );
 
-    /// \brief Update the simulation
-    public: void Update();
-
     /// \brief Main simulation loop, when this loop ends the simulation finish
     public: void MainLoop();
 
@@ -157,6 +154,7 @@
 
     /// Current simulation time
     private: double simTime, pauseTime, startTime;
+    private: double prevPhysicsTime, prevRenderTime;
 
     // UserIteractions 
     /// \brief Set to true to pause the simulation

Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc	2008-05-02 14:32:17 UTC (rev 6394)
+++ code/gazebo/trunk/server/gui/Gui.cc	2008-05-02 17:11:43 UTC (rev 6395)
@@ -106,8 +106,8 @@
   this->toolbar->Update();
   this->statusbar->Update();
   this->glWindow->Update();
-  //Fl::check();
-  Fl::wait(0.03);
+  Fl::check();
+  //Fl::wait(0.03);
 }
 
 ////////////////////////////////////////////////////////////////////////////////

Modified: code/gazebo/trunk/server/gui/StatusBar.cc
===================================================================
--- code/gazebo/trunk/server/gui/StatusBar.cc	2008-05-02 14:32:17 UTC (rev 6394)
+++ code/gazebo/trunk/server/gui/StatusBar.cc	2008-05-02 17:11:43 UTC (rev 6395)
@@ -81,7 +81,10 @@
   this->iterations->value(Simulator::Instance()->GetIterations());
   this->fps->value(avgFPS);
 
-  this->realTime->value(Simulator::Instance()->GetRealTime());
+  if (Simulator::Instance()->GetRealTime() - this->realTime->value() > 0.1)
+  {
+    this->realTime->value(Simulator::Instance()->GetRealTime());
+  }
   this->simTime->value(Simulator::Instance()->GetSimTime());
   this->pauseTime->value(Simulator::Instance()->GetPauseTime());
 


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