Re: [PlayerStage-Gazebo] Skins

[Stefanie T. <ste...@me...>]

Hi,

Gerster, Sarah wrote:

>Hi,
>
>I'm really having trouble with those skins...
>
>1. I look at my model with 3 different cameras. When I put a skin on the model, I can only see it with the first camera. With the 2 other cameras I see neither the skin, nor the model... I saw that somebody already had this problem (Message on 2005-01-21 from Stefanie Tellex). Has anything been changed since then, and I just don't have the latest updates, or is it still a problem?
>  
>
Quick fix:  only enable one camara.    That's what I do now, since I'm lazy.
Longer ugly fix:  Change Geom.cc RenderSkinNode to always rerender the 
skin.  (It caches stuff in node->user.d which is camara specific, but is 
reused across camaras.)   My naive implementation of this had it always 
recreate the user data, which worked for a while but created a nice 
memory leak.
Longer clean fix:  Change Geom.cc RenderSkinNode to have camara specific 
cached data.

>2. I'm confused about the use of skinXyz and skinRpy. I read in the documantation, that skinXyz gives the pose of the skin relativ to the model. But if I put 0,0,0 as coordinates, the skin is most of the time "far" away from where my model was. I have an analog problem with skinRpy... instead of just turning the skin on the spot around the desired axis, it describes a circle around a center point which I really don't know where it comes from.
>Did I misunderstand the use of skinXyz and skinRpy? 
>  
>
That's probably because the skin's location in the model file is far 
away from 0,0,0.    Rotation moves the whole skin model around the 
model's 0,0,0, which makes the skin move in a circle.  Something 
similary happens for skinXyz.  You can probably fix the skin in a 3ds 
file editor like Blender.

>3. I'm having some problems to get the skin scaled right to the size of my model. For the moment I'm just applaying the trial-and-error method... Is there a better way to get the size of the .3ds skin to fit the model?
>  
>
I made a module called SkinnedBox that scales a SimpleSolid box to the 
size of the skin file.  It will probably break in your skin that isn't 
centered at 000, because the bounding box will be huge. 

The patch is here: www.media.mit.edu/~stefie10/SkinnedBox.tar.gz
Instructions are here:  
http://sourceforge.net/mailarchive/message.php?msg_id=10603013

Stefanie