From: <na...@us...> - 2008-09-09 06:05:11
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Revision: 7006 http://playerstage.svn.sourceforge.net/playerstage/?rev=7006&view=rev Author: natepak Date: 2008-09-09 13:05:16 +0000 (Tue, 09 Sep 2008) Log Message: ----------- Applied patch 2101288 Modified Paths: -------------- code/gazebo/trunk/server/Entity.cc code/gazebo/trunk/server/Entity.hh code/gazebo/trunk/server/Model.cc code/gazebo/trunk/server/Model.hh code/gazebo/trunk/server/Param.hh code/gazebo/trunk/server/XMLConfig.cc code/gazebo/trunk/server/XMLConfig.hh code/gazebo/trunk/server/gui/Toolbar.cc code/gazebo/trunk/server/gui/Toolbar.hh code/gazebo/trunk/server/physics/Body.cc code/gazebo/trunk/server/physics/Body.hh code/gazebo/trunk/server/physics/BoxGeom.cc code/gazebo/trunk/server/physics/BoxGeom.hh code/gazebo/trunk/server/physics/CylinderGeom.cc code/gazebo/trunk/server/physics/CylinderGeom.hh code/gazebo/trunk/server/physics/Geom.cc code/gazebo/trunk/server/physics/Geom.hh code/gazebo/trunk/server/physics/PlaneGeom.cc code/gazebo/trunk/server/physics/PlaneGeom.hh code/gazebo/trunk/server/physics/SphereGeom.cc code/gazebo/trunk/server/physics/SphereGeom.hh code/gazebo/trunk/server/rendering/CameraManager.hh code/gazebo/trunk/server/rendering/OgreCreator.cc code/gazebo/trunk/server/rendering/OgreCreator.hh Modified: code/gazebo/trunk/server/Entity.cc =================================================================== --- code/gazebo/trunk/server/Entity.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/Entity.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -45,6 +45,7 @@ Param::Begin(&this->parameters); this->nameP = new ParamT<std::string>("name","",1); this->staticP = new ParamT<bool>("static",false,0); + //this->staticP->Callback( &Entity::SetStatic, this); Param::End(); this->selected = false; @@ -142,7 +143,7 @@ //////////////////////////////////////////////////////////////////////////////// // Set whether this entity is static: immovable -void Entity::SetStatic(bool s) +void Entity::SetStatic(const bool &s) { std::vector< Entity *>::iterator iter; Body *body = NULL; @@ -200,9 +201,29 @@ //////////////////////////////////////////////////////////////////////////////// /// Get the parameters -std::vector<Param*> *Entity::GetParameters() +std::vector<Param*> *Entity::GetParams() { return &this->parameters; } +//////////////////////////////////////////////////////////////////////////////// +/// Get a parameter by name +Param *Entity::GetParam(const std::string &key) const +{ + std::vector<Param*>::const_iterator iter; + Param *result = NULL; + for (iter = this->parameters.begin(); iter != this->parameters.end(); iter++) + { + if ((*iter)->GetKey() == key) + { + result = *iter; + break; + } + } + + if (result == NULL) + gzerr(0) << "Unable to find Param using key[" << key << "]\n"; + + return result; +} Modified: code/gazebo/trunk/server/Entity.hh =================================================================== --- code/gazebo/trunk/server/Entity.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/Entity.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -97,7 +97,7 @@ /// \brief Set whether this entity is static: immovable /// \param s Bool, true = static - public: void SetStatic(bool s); + public: void SetStatic(const bool &s); /// \brief Return whether this entity is static /// \return bool True = static @@ -114,7 +114,10 @@ public: bool operator==(const Entity &ent) const; /// \brief Get the parameters - public: std::vector<Param*> *GetParameters(); + public: std::vector<Param*> *GetParams(); + + /// \brief Get a parameter by name + public: Param *GetParam(const std::string &key) const; /// \brief Parent of this entity protected: Entity *parent; Modified: code/gazebo/trunk/server/Model.cc =================================================================== --- code/gazebo/trunk/server/Model.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/Model.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -62,8 +62,12 @@ Param::Begin(&this->parameters); this->canonicalBodyNameP = new ParamT<std::string>("canonicalBody", std::string(),0); + this->xyzP = new ParamT<Vector3>("xyz", Vector3(0,0,0), 0); + this->xyzP->Callback(&Model::SetPosition, this); + this->rpyP = new ParamT<Quatern>("rpy", Quatern(1,0,0,0), 0); + this->rpyP->Callback( &Model::SetRotation, this); Param::End(); this->parentBodyNameP = NULL; @@ -466,6 +470,26 @@ } //////////////////////////////////////////////////////////////////////////////// +/// Set the position of the model +void Model::SetPosition( const Vector3 &pos) +{ + Pose3d pose = this->GetPose(); + pose.pos = pos; + + this->SetPose(pose); +} + +//////////////////////////////////////////////////////////////////////////////// +/// Set the rotation of the model +void Model::SetRotation( const Quatern &rot) +{ + Pose3d pose = this->GetPose(); + pose.rot = rot; + + this->SetPose(pose); +} + +//////////////////////////////////////////////////////////////////////////////// // Get the current pose const Pose3d &Model::GetPose() const { @@ -689,6 +713,7 @@ return this->bodies[this->canonicalBodyNameP->GetValue()]; } + //////////////////////////////////////////////////////////////////////////////// // Load a renderable model (like a light source). void Model::LoadRenderable(XMLConfigNode *node) Modified: code/gazebo/trunk/server/Model.hh =================================================================== --- code/gazebo/trunk/server/Model.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/Model.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -101,7 +101,13 @@ /// \brief Set the current pose public: void SetPose(const Pose3d &pose); - + + /// \brief Set the position of the model + public: void SetPosition( const Vector3 &pos ); + + /// \brief Set the rotation of the model + public: void SetRotation( const Quatern &rot ); + /// \brief Get the current pose public: const Pose3d &GetPose() const; Modified: code/gazebo/trunk/server/Param.hh =================================================================== --- code/gazebo/trunk/server/Param.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/Param.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -31,6 +31,8 @@ #include <vector> #include <boost/lexical_cast.hpp> #include <boost/any.hpp> +#include <boost/bind.hpp> +#include <boost/signal.hpp> #include <typeinfo> #include <string> @@ -61,6 +63,9 @@ /// \brief Get the type public: virtual std::string GetAsString() const {return std::string();} + /// \brief Set the parameter value from a string + public: virtual void SetFromString(std::string &, bool callback=false) {} + /// List of created parameters private: static std::vector<Param*> *params; @@ -81,8 +86,12 @@ /// \brief Load the param from an XML config file public: void Load(XMLConfigNode *node); + /// \brief Get the parameter value as a string public: virtual std::string GetAsString() const; + /// \brief Set the parameter value from a string + public: virtual void SetFromString( std::string &str, bool callback=false ); + /// \brief Get the value public: T GetValue() const; @@ -97,12 +106,20 @@ return out; } - + + public: template< typename C> + void Callback( void (C::*func)(const T &), C *c) + { + changeSignal.connect( boost::bind( func, c, _1) ); + } + + private: T value; private: T defaultValue; private: int required; + private: boost::signal<void (T)> changeSignal; }; @@ -138,28 +155,39 @@ std::string input = node->GetString(this->key, stream.str(), this->required); + this->SetFromString( input ); + } + + ////////////////////////////////////////////////////////////////////////////// + // Get value as string + template<typename T> + std::string ParamT<T>::GetAsString() const + { + return boost::lexical_cast<std::string>(this->value); + } + + ////////////////////////////////////////////////////////////////////////////// + // Set value from string + template<typename T> + void ParamT<T>::SetFromString(std::string &str, bool callback) + { // "true" and "false" doesn't work properly - if (input == "true") - input = "1"; - else if (input == "false") - input = "0"; + if (str == "true") + str = "1"; + else if (str == "false") + str = "0"; try { - this->value = boost::lexical_cast<T>(input); + this->value = boost::lexical_cast<T>(str); } catch (boost::bad_lexical_cast &e) { std::cerr << "Unable to read value with key[" << this->key << "]\n"; } - } - ////////////////////////////////////////////////////////////////////////////// - // Get value as boost - template<typename T> - std::string ParamT<T>::GetAsString() const - { - return boost::lexical_cast<std::string>(this->value); + if (callback) + this->changeSignal(this->value); } ////////////////////////////////////////////////////////////////////////////// Modified: code/gazebo/trunk/server/XMLConfig.cc =================================================================== --- code/gazebo/trunk/server/XMLConfig.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/XMLConfig.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -458,7 +458,7 @@ while (value[i] == ' ') i++; while (value[j] == ' ') j--; result = xmlStrndup(value+i, j-i+1); - delete value; + xmlFree(value); } return result; Modified: code/gazebo/trunk/server/XMLConfig.hh =================================================================== --- code/gazebo/trunk/server/XMLConfig.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/XMLConfig.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -131,7 +131,8 @@ public: std::string GetValue() const; /// \brief Get an attribute string value - public: std::string GetString( const std::string &key, const std::string &def, + public: std::string GetString( const std::string &key, + const std::string &def, int require = 0 ) const; /// \brief Get a attribute character value Modified: code/gazebo/trunk/server/gui/Toolbar.cc =================================================================== --- code/gazebo/trunk/server/gui/Toolbar.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/gui/Toolbar.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -57,6 +57,13 @@ this->entityBrowser->column_widths( columnWidths ); this->entityBrowser->callback(&Toolbar::AttributeBrowserCB, this); + y = this->entityBrowser->y() + this->entityBrowser->h() + 20; + this->attributeInput = new Fl_Input(x+10, y, w-20, 20, "Input:"); + this->attributeInput->align(FL_ALIGN_TOP); + this->attributeInput->labelsize(12); + this->attributeInput->when( FL_WHEN_ENTER_KEY | FL_WHEN_RELEASE ); + this->attributeInput->callback(&Toolbar::AttributeInputCB, this); + this->end(); this->resizable(NULL); @@ -64,6 +71,7 @@ Toolbar::~Toolbar() { + delete this->attributeInput; } //////////////////////////////////////////////////////////////////////////////// @@ -83,14 +91,14 @@ if (model) { const std::map<std::string, Body *> *bodies = model->GetBodies(); - const std::vector< Geom *> *geoms;; - std::map<std::string, Body *>::const_iterator iter; - std::vector<Geom*>::const_iterator giter; + const std::map<std::string, Geom *> *geoms; + std::map<std::string, Body*>::const_iterator iter; + std::map<std::string, Geom*>::const_iterator giter; std::string value; for (iter = bodies->begin(); iter != bodies->end(); iter++) { - value = "@b@B52@s-Body:"; + value = "@b@B52@s-Body:~@b@B52@s" + iter->second->GetName(); this->AddToBrowser(value); this->AddEntityToAttributeBrowser( iter->second, " " ); @@ -98,9 +106,9 @@ for (giter = geoms->begin(); giter != geoms->end(); giter++) { - value = "@b@B52@s -Geom:"; + value = "@b@B52@s -Geom:~@b@B52@s" + giter->second->GetName(); this->AddToBrowser(value); - this->AddEntityToAttributeBrowser( (*giter), " " ); + this->AddEntityToAttributeBrowser( giter->second, " " ); } } } @@ -119,10 +127,106 @@ // Attribute browser callback void Toolbar::AttributeBrowserCB( Fl_Widget * w, void *data) { - printf("Callback\n"); + Fl_Hold_Browser *browser = (Fl_Hold_Browser*)(w); + Toolbar *toolbar = (Toolbar*)(data); + int selected = browser->value(); + std::string lineText = browser->text(selected); + std::string lbl; + int beginLbl = 0; + int endLbl = 0; + int beginValue = 0; + + if (lineText.find("-Body") != std::string::npos || + lineText.find("-Geom") != std::string::npos) + { + toolbar->attributeInput->deactivate(); + return; + } + else + toolbar->attributeInput->activate(); + + endLbl = lineText.find("~"); + while (lineText[beginLbl] == '@') beginLbl+=2; + while (lineText[beginLbl] == ' ') beginLbl++; + + beginValue = endLbl+1; + while (lineText[beginValue] == '@') beginValue+=2; + + toolbar->attributeInputLbl = lineText.substr(beginLbl, endLbl-beginLbl); + + toolbar->attributeInput->label(toolbar->attributeInputLbl.c_str()); + + toolbar->attributeInput->value( lineText.substr(beginValue, lineText.size() - beginValue).c_str() ); + + toolbar->attributeInput->redraw(); } //////////////////////////////////////////////////////////////////////////////// +// Attribute modification callback +void Toolbar::AttributeInputCB( Fl_Widget *w, void *data) +{ + Fl_Input *input = (Fl_Input*)(w); + Toolbar *toolbar = (Toolbar*)(data); + Fl_Hold_Browser *browser = toolbar->entityBrowser; + int selected = browser->value(); + Model *model = dynamic_cast<Model*>(Simulator::Instance()->GetSelectedEntity()); + Body *body = NULL; + Geom *geom = NULL; + std::string geomName, bodyName, value, label; + + // Make sure we have a valid model + if (!model) + { + gzerr(0) << "Somehow you selected something that is not a model.\n"; + return; + } + + value = input->value(); + label = input->label(); + + // Get rid of the ':' at the end + label = label.substr(0, label.size()-1); + + // Get the name of the body and geom. + while (selected > 0) + { + std::string lineText = browser->text(selected); + int lastAmp = lineText.rfind("@")+2; + + if (lineText.find("-Geom:") != std::string::npos && geomName.empty()) + geomName = lineText.substr( lastAmp, lineText.size()-lastAmp ); + else if (lineText.find("-Body:") != std::string::npos && bodyName.empty()) + bodyName = lineText.substr( lastAmp, lineText.size()-lastAmp ); + + selected--; + } + + // Get the body + if (!bodyName.empty()) + body = model->GetBody(bodyName); + + // Get the geom + if (!geomName.empty() && body) + geom = body->GetGeom(geomName); + + // Get the parameter + Param *param = NULL; + if (geom) + param = geom->GetParam(label); + else if (body) + param = body->GetParam(label); + else + param = model->GetParam(label); + + if (param) + { + param->SetFromString( value, true ); + } + + std::cout << "Label[" << label << "] Value[" << value << "]\n"; +} + +//////////////////////////////////////////////////////////////////////////////// // Add entity to browser void Toolbar::AddEntityToAttributeBrowser(Entity *entity, std::string prefix) { @@ -131,7 +235,7 @@ std::string value; std::string colorStr = ""; - parameters = entity->GetParameters(); + parameters = entity->GetParams(); // Process all the parameters in the entity for (iter = parameters->begin(); iter != parameters->end(); iter++) Modified: code/gazebo/trunk/server/gui/Toolbar.hh =================================================================== --- code/gazebo/trunk/server/gui/Toolbar.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/gui/Toolbar.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -52,6 +52,7 @@ public: void Update(); public: static void AttributeBrowserCB( Fl_Widget * w, void *data); + public: static void AttributeInputCB( Fl_Widget * w, void *data); private: void AddEntityToAttributeBrowser(Entity *ent, std::string prefix); private: void AddToBrowser(const std::string &line); @@ -60,6 +61,9 @@ private: int columnWidths[3]; private: int attrCount; + + private: Fl_Input *attributeInput; + private: std::string attributeInputLbl; }; } Modified: code/gazebo/trunk/server/physics/Body.cc =================================================================== --- code/gazebo/trunk/server/physics/Body.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/Body.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -66,7 +66,10 @@ Param::Begin(&this->parameters); this->xyzP = new ParamT<Vector3>("xyz", Vector3(), 0); + this->xyzP->Callback( &Body::SetPosition, this ); + this->rpyP = new ParamT<Quatern>("rpy", Quatern(), 0); + this->rpyP->Callback( &Body::SetRotation, this ); Param::End(); } @@ -75,12 +78,12 @@ // Destructor Body::~Body() { - std::vector< Geom* >::iterator giter; + std::map< std::string, Geom* >::iterator giter; std::vector< Sensor* >::iterator siter; for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++) { - GZ_DELETE (*giter); + GZ_DELETE (giter->second); } this->geoms.clear(); @@ -143,7 +146,7 @@ // Save the body based on our XMLConfig node void Body::Save(std::string &prefix, std::ostream &stream) { - std::vector< Geom* >::iterator giter; + std::map<std::string, Geom* >::iterator giter; std::vector< Sensor* >::iterator siter; Model *model = dynamic_cast<Model*>(this->parent); //Vector3 pose = model->GetPose() - this->GetPose(); @@ -160,7 +163,7 @@ for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++) { stream << "\n"; - (*giter)->Save(p, stream); + giter->second->Save(p, stream); } for (siter = this->sensors.begin(); siter != this->sensors.end(); siter++) @@ -213,7 +216,7 @@ void Body::Update() { std::vector< Sensor* >::iterator sensorIter; - std::vector< Geom* >::iterator geomIter; + std::map< std::string, Geom* >::iterator geomIter; this->UpdatePose(); @@ -226,7 +229,7 @@ for (geomIter=this->geoms.begin(); geomIter!=this->geoms.end(); geomIter++) { - (*geomIter)->Update(); + geomIter->second->Update(); } for (sensorIter=this->sensors.begin(); @@ -251,7 +254,13 @@ } } - this->geoms.push_back(geom); + std::map<std::string, Geom*>::iterator iter = this->geoms.find(geom->GetName()); + + if (iter == this->geoms.end()) + this->geoms[geom->GetName()] = geom; + else + gzerr(0) << "Attempting to add two geoms with the same name[" << geom->GetName() << "] to body[" << this->GetName() << "].\n"; + } //////////////////////////////////////////////////////////////////////////////// @@ -267,7 +276,7 @@ Pose3d newPose; this->staticPose = pose; - std::vector<Geom*>::iterator iter; + std::map<std::string, Geom*>::iterator iter; //this->SetPosition(this->staticPose.pos); //this->SetRotation(this->staticPose.rot); @@ -275,9 +284,9 @@ for (iter = this->geoms.begin(); iter != this->geoms.end(); iter++) { //newPose = (*iter)->GetPose() - this->staticPose; - newPose = (*iter)->GetPose() - oldPose; + newPose = iter->second->GetPose() - oldPose; newPose += this->staticPose; - (*iter)->SetPose(newPose); + iter->second->SetPose(newPose); } } else @@ -498,7 +507,7 @@ { const dMass *lmass; Pose3d oldPose, newPose, pose; - std::vector< Geom* >::iterator giter; + std::map< std::string, Geom* >::iterator giter; if (!this->bodyId) return; @@ -508,8 +517,8 @@ for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++) { - lmass = (*giter)->GetBodyMassMatrix(); - if ((*giter)->IsPlaceable() && (*giter)->GetGeomId()) + lmass = giter->second->GetBodyMassMatrix(); + if (giter->second->IsPlaceable() && giter->second->GetGeomId()) { dMassAdd( &this->mass, lmass ); } @@ -535,12 +544,12 @@ // Fixup the poses of the geoms (they are attached to the CoM) for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++) { - if ((*giter)->IsPlaceable()) + if (giter->second->IsPlaceable()) { this->comPose = oldPose; - pose = (*giter)->GetPose(); + pose = giter->second->GetPose(); this->comPose = newPose; - (*giter)->SetPose(pose, false); + giter->second->SetPose(pose, false); } } @@ -682,7 +691,25 @@ //////////////////////////////////////////////////////////////////////////////// /// Get the vector of all geoms -const std::vector<Geom*> *Body::GetGeoms() const +const std::map<std::string, Geom*> *Body::GetGeoms() const { return &(this->geoms); } + +//////////////////////////////////////////////////////////////////////////////// +/// Get a geom by name +Geom *Body::GetGeom(const std::string &name) const +{ + std::map<std::string, Geom*>::const_iterator iter = this->geoms.find(name); + + if (iter != this->geoms.end()) + { + return iter->second; + } + else + { + gzerr(0) << "Unknown geom[" << name << "]\n"; + return NULL; + } +} + Modified: code/gazebo/trunk/server/physics/Body.hh =================================================================== --- code/gazebo/trunk/server/physics/Body.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/Body.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -28,7 +28,7 @@ #define BODY_HH #include <ode/ode.h> -#include <list> +#include <map> #include <vector> #include "XMLConfig.hh" @@ -141,7 +141,10 @@ public: Vector3 GetTorque() const; /// \brief Get the vector of all geoms - public: const std::vector<Geom*> *GetGeoms() const; + public: const std::map<std::string, Geom*> *GetGeoms() const; + + /// \brief Get a geom by name + public: Geom *GetGeom(const std::string &name) const; /// Load a new geom helper function /// \param node XMLConfigNode used to load the geom @@ -158,7 +161,7 @@ private: void UpdatePose(); /// List of geometries attached to this body - private: std::vector< Geom* > geoms; + private: std::map< std::string, Geom* > geoms; /// List of attached sensors private: std::vector< Sensor* > sensors; Modified: code/gazebo/trunk/server/physics/BoxGeom.cc =================================================================== --- code/gazebo/trunk/server/physics/BoxGeom.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/BoxGeom.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -39,6 +39,7 @@ { Param::Begin(&this->parameters); this->sizeP = new ParamT<Vector3>("size",Vector3(1,1,1),1); + this->sizeP->Callback( &BoxGeom::SetSize, this ); Param::End(); } @@ -55,24 +56,13 @@ void BoxGeom::LoadChild(XMLConfigNode *node) { this->sizeP->Load(node); - - // Initialize box mass matrix - dMassSetBoxTotal(&this->mass, this->massP->GetValue(), - this->sizeP->GetValue().x, - this->sizeP->GetValue().y, - this->sizeP->GetValue().z); - - // Create a box geometry with box mass matrix - this->SetGeom(dCreateBox( 0, this->sizeP->GetValue().x, - this->sizeP->GetValue().y, - this->sizeP->GetValue().z), true ); + this->SetSize( this->sizeP->GetValue() ); } ////////////////////////////////////////////////////////////////////////////// // Set the size of the box -void BoxGeom::SetSize( Vector3 size ) +void BoxGeom::SetSize( const Vector3 &size ) { - this->sizeP->SetValue( size ); // Initialize box mass matrix Modified: code/gazebo/trunk/server/physics/BoxGeom.hh =================================================================== --- code/gazebo/trunk/server/physics/BoxGeom.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/BoxGeom.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -85,7 +85,7 @@ protected: void SaveChild(std::string &prefix, std::ostream &stream); /// \brief Set the size of the box - public: void SetSize( Vector3 size ); + public: void SetSize( const Vector3 &size ); private: ParamT<Vector3> *sizeP; }; Modified: code/gazebo/trunk/server/physics/CylinderGeom.cc =================================================================== --- code/gazebo/trunk/server/physics/CylinderGeom.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/CylinderGeom.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -37,6 +37,8 @@ { Param::Begin(&this->parameters); this->sizeP = new ParamT<Vector2<double> >("size", Vector2<double>(1.0,1.0), 1); + this->sizeP->Callback( &CylinderGeom::SetSize, this); + Param::End(); } @@ -52,14 +54,21 @@ void CylinderGeom::LoadChild(XMLConfigNode *node) { this->sizeP->Load(node); + this->SetSize( this->sizeP->GetValue() ); +} +////////////////////////////////////////////////////////////////////////////// +// Set the size of the cylinder +void CylinderGeom::SetSize( const Vector2<double> &size ) +{ + this->sizeP->SetValue( size ); + // Initialize mass matrix dMassSetCylinderTotal(&this->mass, this->massP->GetValue(), 3, this->sizeP->GetValue().x, this->sizeP->GetValue().y); this->SetGeom( dCreateCylinder( 0, this->sizeP->GetValue().x, this->sizeP->GetValue().y ), true ); - } ////////////////////////////////////////////////////////////////////////////// Modified: code/gazebo/trunk/server/physics/CylinderGeom.hh =================================================================== --- code/gazebo/trunk/server/physics/CylinderGeom.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/CylinderGeom.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -77,6 +77,9 @@ /// \brief Destructor public: virtual ~CylinderGeom(); + /// \brief Set the size of the cylinder + public: void SetSize( const Vector2<double> &size ); + /// \brief Load the cylinder protected: void LoadChild(XMLConfigNode *node); Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/Geom.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -63,8 +63,14 @@ Param::Begin(&this->parameters); this->massP = new ParamT<double>("mass",0.001,0); + this->massP->Callback( &Geom::SetMass, this); + this->xyzP = new ParamT<Vector3>("xyz", Vector3(), 0); + this->xyzP->Callback( &Geom::SetPosition, this); + this->rpyP = new ParamT<Quatern>("rpy", Quatern(), 0); + this->rpyP->Callback( &Geom::SetRotation, this); + this->laserFiducialIdP = new ParamT<int>("laserFiducialId",-1,0); this->laserRetroP = new ParamT<float>("laserRetro",-1,0); Param::End(); @@ -502,3 +508,13 @@ */ } } + +//////////////////////////////////////////////////////////////////////////////// +/// Set the mass +void Geom::SetMass(const double &mass) +{ + dMassAdjust(&this->mass, mass); + this->body->UpdateCoM(); +} + + Modified: code/gazebo/trunk/server/physics/Geom.hh =================================================================== --- code/gazebo/trunk/server/physics/Geom.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/Geom.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -137,9 +137,12 @@ /// \brief Set the visibility of the joints public: void ShowJoints(bool show); - /// \brief Set the visibility of the physical entity of this geom + /// \brief Set the visibility of the physical entity of this geom public: void ShowPhysics(bool); + /// \brief Set the mass + public: void SetMass(const double &mass); + /// Contact parameters public: ContactParams *contact; Modified: code/gazebo/trunk/server/physics/PlaneGeom.cc =================================================================== --- code/gazebo/trunk/server/physics/PlaneGeom.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/PlaneGeom.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -42,14 +42,26 @@ { Param::Begin(&this->parameters); this->normalP = new ParamT<Vector3>("normal",Vector3(0,0,1),0); + this->normalP->Callback( &PlaneGeom::SetNormal, this ); + this->sizeP = new ParamT<Vector2<double> >("size", Vector2<double>(1000, 1000), 0); + this->sizeP->Callback( &PlaneGeom::SetSize, this ); + this->segmentsP = new ParamT<Vector2<double> >("segments", Vector2<double>(10, 10), 0); + this->segmentsP->Callback( &PlaneGeom::SetSegments, this ); + this->uvTileP = new ParamT<Vector2<double> >("uvTile", Vector2<double>(1, 1), 0); + this->uvTileP->Callback( &PlaneGeom::SetUVTile, this ); + this->materialP = new ParamT<std::string>("material","",1); + this->materialP->Callback( &PlaneGeom::SetMaterial, this ); + this->castShadowsP = new ParamT<bool>("castShadows", false, 0); + this->castShadowsP->Callback( &PlaneGeom::SetCastShadows, this ); + Param::End(); } @@ -83,19 +95,26 @@ { Vector3 perp; - double altitude = 0; - this->normalP->Load(node); this->sizeP->Load(node); this->segmentsP->Load(node); this->uvTileP->Load(node); this->materialP->Load(node); this->castShadowsP->Load(node); + this->CreatePlane(); +} - OgreCreator::CreatePlane(**(this->normalP), **(this->sizeP), - **(this->segmentsP), **(this->uvTileP), **(this->materialP), - **(this->castShadowsP), this->GetVisualNode()); +//////////////////////////////////////////////////////////////////////////////// +// Create the plane +void PlaneGeom::CreatePlane() +{ + double altitude = 0; + this->meshName = OgreCreator::CreatePlane(**(this->normalP), + **(this->sizeP), **(this->segmentsP), **(this->uvTileP), + **(this->materialP), **(this->castShadowsP), this->GetVisualNode(), + this->meshName); + this->SetGeom(dCreatePlane(this->spaceId, this->normalP->GetValue().x, this->normalP->GetValue().y, this->normalP->GetValue().z, altitude),false); @@ -106,6 +125,61 @@ } ////////////////////////////////////////////////////////////////////////////// +/// Set the normal +void PlaneGeom::SetNormal( const Vector3 &norm ) +{ + OgreCreator::RemoveMesh(this->meshName); + this->normalP->SetValue( norm ); + this->CreatePlane(); +} + +////////////////////////////////////////////////////////////////////////////// +// Set the size +void PlaneGeom::SetSize( const Vector2<double> &size ) +{ + OgreCreator::RemoveMesh(this->meshName); + this->sizeP->SetValue( size ); + this->CreatePlane(); +} + +////////////////////////////////////////////////////////////////////////////// +// Set the number of segments +void PlaneGeom::SetSegments(const Vector2<double> &seg) +{ + OgreCreator::RemoveMesh(this->meshName); + this->segmentsP->SetValue( seg ); + this->CreatePlane(); +} + + +////////////////////////////////////////////////////////////////////////////// +// Set the uvtile +void PlaneGeom::SetUVTile(const Vector2<double> &uv) +{ + OgreCreator::RemoveMesh(this->meshName); + this->uvTileP->SetValue( uv ); + this->CreatePlane(); +} + +////////////////////////////////////////////////////////////////////////////// +// Set the material +void PlaneGeom::SetMaterial(const std::string &mat) +{ + OgreCreator::RemoveMesh(this->meshName); + this->materialP->SetValue( mat ); + this->CreatePlane(); +} + +////////////////////////////////////////////////////////////////////////////// +/// Set cast shadows +void PlaneGeom::SetCastShadows(const bool &cast) +{ + OgreCreator::RemoveMesh(this->meshName); + this->castShadowsP->SetValue( cast ); + this->CreatePlane(); +} + +////////////////////////////////////////////////////////////////////////////// /// Save child parameters void PlaneGeom::SaveChild(std::string &prefix, std::ostream &stream) { Modified: code/gazebo/trunk/server/physics/PlaneGeom.hh =================================================================== --- code/gazebo/trunk/server/physics/PlaneGeom.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/PlaneGeom.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -96,6 +96,28 @@ /// \brief Load the plane public: virtual void LoadChild(XMLConfigNode *node); + /// \brief Create the plane + public: void CreatePlane(); + + /// \brief Set the normal + public: void SetNormal( const Vector3 &norm ); + + /// \brief Set the size + public: void SetSize( const Vector2<double> &size ); + + /// \brief Set the number of segments + public: void SetSegments(const Vector2<double> &seg); + + /// \brief Set the uvtile + public: void SetUVTile(const Vector2<double> &uv); + + /// \brief Set the material + public: void SetMaterial(const std::string &mat); + + /// \brief Set cast shadows + public: void SetCastShadows(const bool &cast); + + /// \brief Save child parameters protected: void SaveChild(std::string &prefix, std::ostream &stream); @@ -105,6 +127,8 @@ private: ParamT<Vector2<double> > *uvTileP; private: ParamT<std::string> *materialP; private: ParamT<bool> *castShadowsP; + + private: std::string meshName; }; /// \} Modified: code/gazebo/trunk/server/physics/SphereGeom.cc =================================================================== --- code/gazebo/trunk/server/physics/SphereGeom.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/SphereGeom.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -39,6 +39,7 @@ { Param::Begin(&this->parameters); this->radiusP = new ParamT<double>("size",1.0,0); + this->radiusP->Callback( &SphereGeom::SetSize, this ); Param::End(); } @@ -55,15 +56,24 @@ void SphereGeom::LoadChild(XMLConfigNode *node) { this->radiusP->Load(node); + this->SetSize( this->radiusP->GetValue() ); +} +//////////////////////////////////////////////////////////////////////////////// +// Set the size +void SphereGeom::SetSize(const double &radius) +{ + this->radiusP->SetValue( radius ); + // Initialize box mass matrix - dMassSetSphereTotal(&this->mass, this->massP->GetValue(), this->radiusP->GetValue()); + dMassSetSphereTotal(&this->mass, this->massP->GetValue(), + this->radiusP->GetValue()); // Create the sphere geometry this->SetGeom( dCreateSphere(0, this->radiusP->GetValue()), true); } -////////////////////////////////////////////////////////////////////////////// +//////////////////////////////////////////////////////////////////////////////// // Save sphere parameters void SphereGeom::SaveChild(std::string &prefix, std::ostream &stream) { Modified: code/gazebo/trunk/server/physics/SphereGeom.hh =================================================================== --- code/gazebo/trunk/server/physics/SphereGeom.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/physics/SphereGeom.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -78,6 +78,9 @@ /// \brief Destructor public: virtual ~SphereGeom(); + /// \brief Set the size + public: void SetSize(const double &radius); + /// \brief Load the sphere protected: void LoadChild(XMLConfigNode *node); Modified: code/gazebo/trunk/server/rendering/CameraManager.hh =================================================================== --- code/gazebo/trunk/server/rendering/CameraManager.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/rendering/CameraManager.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -78,7 +78,6 @@ public: void DecActiveCamera(); /// \brief Connect a boost::slot the the AddCamera signal - public: template<typename T> void ConnectAddCameraSignal( T subscriber ) { Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc =================================================================== --- code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-09-09 13:05:16 UTC (rev 7006) @@ -74,9 +74,10 @@ //////////////////////////////////////////////////////////////////////////////// // Create a plane -void OgreCreator::CreatePlane(const Vector3 &normal, const Vector2<double> &size, const Vector2<double> &segments, const Vector2<double> &uvTile, const std::string &material, bool castShadows, OgreVisual *parent) +std::string OgreCreator::CreatePlane(const Vector3 &normal, const Vector2<double> &size, const Vector2<double> &segments, const Vector2<double> &uvTile, const std::string &material, bool castShadows, OgreVisual *parent, const std::string &name) { Vector3 n = normal; + std::string resultName; n.Normalize(); Vector3 perp = n.GetPerpendicular(); @@ -85,7 +86,13 @@ //FIXME: only one plane per parent //TODO:names and parents - Ogre::MeshManager::getSingleton().createPlane(parent->GetName() + "_PLANE", + + if (name.empty()) + resultName = parent->GetName() + "_PLANE"; + else + resultName = name; + + Ogre::MeshManager::getSingleton().createPlane(resultName, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, plane, size.x, size.y, (int)segments.x, (int)segments.y, @@ -97,6 +104,8 @@ parent->SetMaterial(material); parent->SetCastShadows(castShadows); + + return resultName; } @@ -533,6 +542,14 @@ } //////////////////////////////////////////////////////////////////////////////// +/// Remove a mesh by name +void OgreCreator::RemoveMesh(const std::string &name) +{ + if (!name.empty() && Ogre::MeshManager::getSingleton().resourceExists(name)) + Ogre::MeshManager::getSingleton().remove(name); +} + +//////////////////////////////////////////////////////////////////////////////// // Create a window for Ogre Ogre::RenderWindow *OgreCreator::CreateWindow(Fl_Window *flWindow, unsigned int width, unsigned int height) { Modified: code/gazebo/trunk/server/rendering/OgreCreator.hh =================================================================== --- code/gazebo/trunk/server/rendering/OgreCreator.hh 2008-09-09 02:52:01 UTC (rev 7005) +++ code/gazebo/trunk/server/rendering/OgreCreator.hh 2008-09-09 13:05:16 UTC (rev 7006) @@ -70,10 +70,10 @@ /// It adds itself to the Visual node parent, it will those change parent /// properties if needed, to avoid this create a child visual node for the /// plane - public: static void CreatePlane(const Vector3 &normal, + public: static std::string CreatePlane(const Vector3 &normal, const Vector2<double> &size, const Vector2<double> &segments, const Vector2<double> &uvTile, const std::string &material, - bool castShadows, OgreVisual *parent); + bool castShadows, OgreVisual *parent, const std::string &name); /// \brief Create a light source /// \return The name of the light source @@ -113,6 +113,9 @@ /// \brief Draw the uniform grid pattern public: static void DrawGrid(); + /// \brief Remove a mesh by name + public: static void RemoveMesh(const std::string &name); + private: static unsigned int lightCounter; private: static unsigned int windowCounter; This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |