Menu
▾
▴
[Playerstage-commit] code/gazebo/server/bodies BaseGeom.cc, 1.15.2.1, 1.15.2.2 BaseGeom.hh, 1.13.2.1, 1.13.2.2 Body.cc, 1.35.2.2, 1.35.2.3 Body.hh, 1.29.2.4, 1.29.2.5 BoxGeom.cc, 1.20.2.2, 1.20.2.3 CylinderGeom.cc, 1.20.2.2, 1.20.2.3 Geom.cc, 1.45.2.1, 1.45.2.2 Geom.hh, 1.31.2.1, 1.31.2.2 LightGeom.cc, 1.11.2.2, 1.11.2.3 PlaneGeom.cc, 1.26.2.3, 1.26.2.4 SphereGeom.cc, 1.15.2.2, 1.15.2.3 WheelGeom.cc, 1.8.2.1, 1.8.2.2
|
From: Nathan K. <na...@us...> - 2006-08-10 17:29:49
|
Update of /cvsroot/playerstage/code/gazebo/server/bodies In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11506/bodies Modified Files: Tag: ogre BaseGeom.cc BaseGeom.hh Body.cc Body.hh BoxGeom.cc CylinderGeom.cc Geom.cc Geom.hh LightGeom.cc PlaneGeom.cc SphereGeom.cc WheelGeom.cc Log Message: Updates to ogre integration Index: SphereGeom.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/SphereGeom.cc,v retrieving revision 1.15.2.2 retrieving revision 1.15.2.3 diff -C2 -d -r1.15.2.2 -r1.15.2.3 *** SphereGeom.cc 15 Mar 2006 22:45:38 -0000 1.15.2.2 --- SphereGeom.cc 11 Aug 2006 00:29:46 -0000 1.15.2.3 *************** *** 25,29 **** */ - #include <GL/glu.h> #include <Ogre.h> --- 25,28 ---- *************** *** 47,56 **** this->radius = radius; ! Ogre::Entity *ent = this->ogreSceneNode->getCreator()->createEntity("Sphere", "sphere.mesh"); this->ogreSceneNode->attachObject(ent); this->ogreSceneNode->setScale(radius,radius,radius); this->ogreSceneNode->setPosition(0, radius, 0.0); ! ent->setCastShadows(true); --- 46,62 ---- this->radius = radius; ! // Get the sphere mesh ! Ogre::Entity *ent = this->ogreSceneNode->getCreator()->createEntity(this->entityName, "sphere.mesh"); + // Attach the sphere to the scene node this->ogreSceneNode->attachObject(ent); + + // Set the size of the sphere this->ogreSceneNode->setScale(radius,radius,radius); + + // Set the position of the sphere this->ogreSceneNode->setPosition(0, radius, 0.0); ! ! // Allow the sphere to cast shadows ent->setCastShadows(true); *************** *** 72,153 **** void SphereGeom::Render(RenderOptions *opt) { - /* GLUquadricObj *quad; - GLuint listId; - RenderOptions listOpt; - - // Recover stored display list for this camera - this->GetList(opt->cameraIndex, &listId, &listOpt); - - // See if the current display list is dirty - this->dirty |= (listId == 0); - this->dirty |= (opt->displayMaterials != listOpt.displayMaterials); - this->dirty |= (opt->displayTextures != listOpt.displayTextures); - - // Generate the display list - if (dirty) - { - if (listId == 0) - listId = glGenLists(1); - glNewList(listId, GL_COMPILE); - - // Set material properties - if (opt->displayMaterials) - { - glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, this->colorAmbient); - glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, this->colorDiffuse); - glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, this->colorSpecular); - glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, this->shininess); - } - - if (opt->displayTextures && this->textureImage) - { - // Set up textures - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); - glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); - - // Build the mipmaps - // Assume image data is *not* aligned - glPixelStorei( GL_UNPACK_ALIGNMENT, 1); - gluBuild2DMipmaps(GL_TEXTURE_2D, this->textureImage->components, - this->textureImage->width, this->textureImage->height, - this->textureImage->format, this->textureImage->type, - this->textureImage->data); - - glEnable(GL_TEXTURE_2D); - - // Flip so textures get draw the right way up - glMatrixMode(GL_TEXTURE); - glPushMatrix(); - glScalef(1, -1, 0); - } - - // Create the sphere - quad = gluNewQuadric(); - gluQuadricTexture(quad, GL_TRUE); - gluQuadricOrientation(quad, GLU_OUTSIDE); - gluSphere(quad, this->radius, 32, 32); - gluDeleteQuadric(quad); - - if (opt->displayTextures && this->textureImage) - { - // Restore texture matrix - glPopMatrix(); - glMatrixMode(GL_MODELVIEW); - glDisable(GL_TEXTURE_2D); - } - - // Store list options - this->SetList(opt->cameraIndex, listId, *opt); - glEndList(); - } - - // Call the display list - if (listId) - glCallList(listId); - - */ return; } --- 78,81 ---- Index: BoxGeom.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/BoxGeom.cc,v retrieving revision 1.20.2.2 retrieving revision 1.20.2.3 diff -C2 -d -r1.20.2.2 -r1.20.2.3 *** BoxGeom.cc 15 Mar 2006 22:45:38 -0000 1.20.2.2 --- BoxGeom.cc 11 Aug 2006 00:29:46 -0000 1.20.2.3 *************** *** 39,42 **** --- 39,43 ---- : Geom( body, spaceId ) { + Ogre::Entity *ent; dMass mass; *************** *** 51,67 **** this->SetGeom(dCreateBox( 0, xDim, yDim, zDim ), &mass, true ); ! Ogre::Entity *ent = this->ogreSceneNode->getCreator()->createEntity("Box", "unit_box.mesh"); this->ogreSceneNode->attachObject(ent); this->ogreSceneNode->scale(xDim,yDim,zDim); this->ogreSceneNode->translate(0,yDim,0); ent->setCastShadows(true); ! Ogre::MaterialPtr mat= Ogre::MaterialManager::getSingleton().create("red", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); mat->setAmbient(1.0, 0.0, 0.0); mat->setDiffuse(1.0, 0.0, 0.0, 1.0); mat->setSpecular(0.5, 0.5, 0.5, 1.0); - ent->setMaterialName("red"); return; --- 52,78 ---- this->SetGeom(dCreateBox( 0, xDim, yDim, zDim ), &mass, true ); ! // Get the box mesh ! ent = this->ogreSceneNode->getCreator()->createEntity(this->entityName, "cube.mesh"); ! ! // Attach the box to the scene node this->ogreSceneNode->attachObject(ent); + + // Set the size of the box this->ogreSceneNode->scale(xDim,yDim,zDim); + + // Set the size of the box + // Set the position of the box this->ogreSceneNode->translate(0,yDim,0); + + // Allow the box to cast shadows ent->setCastShadows(true); ! /* TESTING Ogre::MaterialPtr mat= Ogre::MaterialManager::getSingleton().create("red", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); mat->setAmbient(1.0, 0.0, 0.0); mat->setDiffuse(1.0, 0.0, 0.0, 1.0); mat->setSpecular(0.5, 0.5, 0.5, 1.0); ent->setMaterialName("red"); + */ return; *************** *** 76,199 **** } - ////////////////////////////////////////////////////////////////////////////// // Default render routine void BoxGeom::Render(RenderOptions *opt) { - int i; - - // Normals - GLfloat n[6][3] = - { - {0, 0, -1}, {0, 0, +1}, - {0, -1, 0}, {0, +1, 0}, - {-1, 0, 0}, {+1, 0, 0} - }; - - - // Vertices - GLint faces[6][4] = - { - {3, 2, 1, 0}, {4, 5, 6, 7}, - {0, 1, 5, 4}, {2, 3, 7, 6}, - {3, 0, 4, 7}, {1, 2, 6, 5} - }; - - - // Vertex values - GLfloat v[8][3] = - { - {-1, -1, -1}, {+1, -1, -1}, {+1, +1, -1}, {-1, +1, -1}, - {-1, -1, +1}, {+1, -1, +1}, {+1, +1, +1}, {-1, +1, +1} - }; - - GLuint listId; - RenderOptions listOpt; - - // Recover stored display list for this camera - this->GetList(opt->cameraIndex, &listId, &listOpt); - - // See if the current display list is dirty - this->dirty |= (listId == 0); - this->dirty |= (opt->displayMaterials != listOpt.displayMaterials); - this->dirty |= (opt->displayTextures != listOpt.displayTextures); - - // Generate the display list - if (this->dirty) - { - if (listId == 0) - listId = glGenLists(1); - glNewList(listId, GL_COMPILE); - - // Set material properties - if (opt->displayMaterials) - { - glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, this->colorAmbient); - glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, this->colorDiffuse); - glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, this->colorSpecular); - glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, this->shininess); - } - - if (opt->displayTextures && this->textureImage) - { - // Set up textures - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); - glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); - - // Build the mipmaps - // Assume image data is *not* aligned - glPixelStorei( GL_UNPACK_ALIGNMENT, 1); - gluBuild2DMipmaps(GL_TEXTURE_2D, this->textureImage->components, - this->textureImage->width, this->textureImage->height, - this->textureImage->format, this->textureImage->type, - this->textureImage->data); - - glEnable(GL_TEXTURE_2D); - } - - // Compute the vertices - for (i = 0; i < 8; i++) - { - v[i][0] *= this->sides[0] / 2; - v[i][1] *= this->sides[1] / 2; - v[i][2] *= this->sides[2] / 2; - } - - // Draw the box - for (i = 0; i < 6; i++) - { - glBegin(GL_QUADS); - glNormal3fv(n[i]); - - glTexCoord2f(0, +1); - glVertex3fv(&v[faces[i][0]][0]); - - glTexCoord2f(+1, +1); - glVertex3fv(&v[faces[i][1]][0]); - - glTexCoord2f(+1, 0); - glVertex3fv(&v[faces[i][2]][0]); - - glTexCoord2f(0, 0); - glVertex3fv(&v[faces[i][3]][0]); - - glEnd(); - } - - if (opt->displayTextures && this->textureImage) - glDisable(GL_TEXTURE_2D); - - // Store list options - this->SetList(opt->cameraIndex, listId, *opt); - glEndList(); - } - - // Call the display list - if (listId) - glCallList(listId); - return; } --- 87,94 ---- Index: Body.hh =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/Body.hh,v retrieving revision 1.29.2.4 retrieving revision 1.29.2.5 diff -C2 -d -r1.29.2.4 -r1.29.2.5 *** Body.hh 7 Aug 2006 20:52:26 -0000 1.29.2.4 --- Body.hh 11 Aug 2006 00:29:46 -0000 1.29.2.5 *************** *** 54,57 **** --- 54,59 ---- /// @brief Destructor public: virtual ~Body(); + + public: void Update(); // Attach a geometry to this body Index: BaseGeom.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/BaseGeom.cc,v retrieving revision 1.15.2.1 retrieving revision 1.15.2.2 diff -C2 -d -r1.15.2.1 -r1.15.2.2 *** BaseGeom.cc 15 Mar 2006 22:45:38 -0000 1.15.2.1 --- BaseGeom.cc 11 Aug 2006 00:29:46 -0000 1.15.2.2 *************** *** 26,29 **** --- 26,30 ---- #include <assert.h> + #include <Ogre.h> #include "Body.hh" *************** *** 58,62 **** // Create the contact parameters this->contact = new ContactParams(); ! return; } --- 59,64 ---- // Create the contact parameters this->contact = new ContactParams(); ! ! this->entityName = new char[256]; return; } *************** *** 83,86 **** --- 85,89 ---- assert(!this->geomId); + this->geomId = geomId; this->transId = NULL; *************** *** 113,116 **** --- 116,120 ---- this->body->AttachGeom( (Geom*) this ); + sprintf(this->entityName,"Entity[%d]",this->geomId); return; } *************** *** 266,269 **** --- 270,275 ---- this->body->UpdateCoM(); + this->ogreSceneNode->setPosition(pose.pos.x, pose.pos.y, pose.pos.z); + this->ogreSceneNode->setOrientation(pose.rot.u,pose.rot.x, pose.rot.y, pose.rot.z); return; } Index: Body.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/Body.cc,v retrieving revision 1.35.2.2 retrieving revision 1.35.2.3 diff -C2 -d -r1.35.2.2 -r1.35.2.3 *** Body.cc 23 Feb 2006 23:21:20 -0000 1.35.2.2 --- Body.cc 11 Aug 2006 00:29:46 -0000 1.35.2.3 *************** *** 84,87 **** --- 84,97 ---- } + void Body::Update() + { + GzPose pose = this->GetPose(); + + // Update the scene node + //this->ogreSceneNode->setPosition(pose.pos.x, pose.pos.y, pose.pos.z); + // this->ogreSceneNode->setOrientation(pose.rot.u,pose.rot.x,pose.rot.y,pose.rot.z); + + } + ////////////////////////////////////////////////////////////////////////////// // Attach a geometry to this body *************** *** 284,288 **** q[3] = pose.rot.z; dBodySetQuaternion( this->bodyId, q); ! return; } --- 294,302 ---- q[3] = pose.rot.z; dBodySetQuaternion( this->bodyId, q); ! ! // Update the scene node ! this->ogreSceneNode->setPosition(pose.pos.x, pose.pos.y, pose.pos.z); ! this->ogreSceneNode->setOrientation(pose.rot.u,pose.rot.x, pose.rot.y, pose.rot.z); ! return; } Index: Geom.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/Geom.cc,v retrieving revision 1.45.2.1 retrieving revision 1.45.2.2 diff -C2 -d -r1.45.2.1 -r1.45.2.2 *** Geom.cc 15 Mar 2006 22:45:38 -0000 1.45.2.1 --- Geom.cc 11 Aug 2006 00:29:46 -0000 1.45.2.2 *************** *** 434,438 **** void Geom::PreRender(RenderOptions *opt) { ! GzPose pose; GzVector pos; GzQuatern rot; --- 434,438 ---- void Geom::PreRender(RenderOptions *opt) { ! /*GzPose pose; GzVector pos; GzQuatern rot; *************** *** 456,459 **** --- 456,460 ---- glRotatef(rot.u * 180 / M_PI, rot.x, rot.y, rot.z); + */ return; } *************** *** 472,479 **** void Geom::PostRender(RenderOptions *opt) { ! this->dirty = false; glPopName(); glPopMatrix(); return; } --- 473,481 ---- void Geom::PostRender(RenderOptions *opt) { ! /* this->dirty = false; glPopName(); glPopMatrix(); + */ return; } Index: BaseGeom.hh =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/BaseGeom.hh,v retrieving revision 1.13.2.1 retrieving revision 1.13.2.2 diff -C2 -d -r1.13.2.1 -r1.13.2.2 *** BaseGeom.hh 15 Mar 2006 22:45:38 -0000 1.13.2.1 --- BaseGeom.hh 11 Aug 2006 00:29:46 -0000 1.13.2.2 *************** *** 34,37 **** --- 34,41 ---- class ContactParams; + namespace Ogre + { + class SceneNode; + } /// @brief Base class for GL-renderable geoms *************** *** 130,133 **** --- 134,142 ---- protected: ContactParams *contact; + protected: char *entityName; + + /// Scene node for this geometry + protected: Ogre::SceneNode *ogreSceneNode; + // Wart friend class World; Index: PlaneGeom.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/PlaneGeom.cc,v retrieving revision 1.26.2.3 retrieving revision 1.26.2.4 diff -C2 -d -r1.26.2.3 -r1.26.2.4 *** PlaneGeom.cc 15 Mar 2006 22:45:38 -0000 1.26.2.3 --- PlaneGeom.cc 11 Aug 2006 00:29:46 -0000 1.26.2.4 *************** *** 61,74 **** // Create an ODE plane geom // This geom is not placable ! this->SetGeom(dCreatePlane(spaceId, normal.x, normal.y, normal.z, altitude), NULL, false); ! Ogre::Plane plane(Ogre::Vector3(this->planeNy.x, this->planeNy.y, this->planeNy.z), this->planeAltitude); Ogre::MeshManager::getSingleton().createPlane("plane", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, plane, ! 100,100,2,2,true,1,5,5, Ogre::Vector3(this->planeNz.x,this->planeNz.y,this->planeNz.z)); Ogre::Entity *ent = this->ogreSceneNode->getCreator()->createEntity( "PlaneEntity", "plane"); ! ent->setCastShadows(true); this->ogreSceneNode->attachObject(ent); --- 61,75 ---- // Create an ODE plane geom // This geom is not placable ! this->SetGeom(dCreatePlane(spaceId, 0, 1, 0, 0), NULL, false); ! Ogre::Plane plane(Ogre::Vector3(0, 1, 0), 0); Ogre::MeshManager::getSingleton().createPlane("plane", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, plane, ! 1500,1500,20,20,true,1,5,5, Ogre::Vector3(0,0,1)); Ogre::Entity *ent = this->ogreSceneNode->getCreator()->createEntity( "PlaneEntity", "plane"); ! ent->setCastShadows(false); ! ent->setMaterialName("Examples/Rockwall"); this->ogreSceneNode->attachObject(ent); *************** *** 90,208 **** void PlaneGeom::Render(RenderOptions *opt) { - /* int i, j, k; - int ni, nj; - double sx, sy; - GzVector p, q, offset; - GLuint listId; - RenderOptions listOpt; - - // Recover stored display list for this camera - this->GetList(opt->cameraIndex, &listId, &listOpt); - - // See if the current display list is dirty - this->dirty |= (listId == 0); - this->dirty |= (opt->displayMaterials != listOpt.displayMaterials); - this->dirty |= (opt->displayTextures != listOpt.displayTextures); - - // Generate the display list - if (this->dirty) - { - if (listId == 0) - listId = glGenLists(1); - - glNewList(listId, GL_COMPILE); - - // Set material properties - if (opt->displayMaterials) - { - glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, this->colorAmbient); - glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, this->colorDiffuse); - glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, this->colorSpecular); - glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, this->shininess); - PRINT_GL_ERR(); - } - - if (opt->displayTextures && this->textureImage) - { - // Set up textures - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); - glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); - PRINT_GL_ERR(); - - // Build the mipmaps - // Assume image data is *not* aligned - glPixelStorei( GL_UNPACK_ALIGNMENT, 1); - gluBuild2DMipmaps(GL_TEXTURE_2D, this->textureImage->components, - this->textureImage->width, this->textureImage->height, - this->textureImage->format, this->textureImage->type, - this->textureImage->data); - PRINT_GL_ERR(); - } - - - if (opt->displayTextures && this->textureImage) - glEnable(GL_TEXTURE_2D); - - glNormal3f(this->planeNz.x, this->planeNz.y, this->planeNz.z); - - // Compute number of patches - ni = (int) (ceil(opt->farClip / this->patchSize)); - nj = (int) (ceil(opt->farClip / this->patchSize)); - - // Render strips - for (j = -nj; j < nj; j += 1) - { - glBegin(GL_TRIANGLE_STRIP); - - for (i = -ni; i < ni; i += 2) - { - double vertex[4][2] = {{-1, +1}, {-1, -1}, {+1, +1}, {+1, -1}}; - offset = GzVectorSet(i * this->patchSize, j * this->patchSize, 0.0); - - for (k = 0; k < 4; k++) - { - q = GzVectorSet(vertex[k][0] * this->patchSize, vertex[k][1] * this->patchSize, 0.0); - q = GzVectorMul(0.5, q); - q = GzVectorAdd(q, offset); - - p = GzVectorMul(q.x, this->planeNx); - p = GzVectorAdd(p, GzVectorMul(q.y, this->planeNy)); - - // Texture is scaled so that it covers the right amount of the plane - glTexCoord2f(q.x / this->textureSize.x, q.y / this->textureSize.y); - - glVertex3f(p.x, p.y, p.z); - } - } - glEnd(); - } - - if (opt->displayTextures && this->textureImage) - glDisable(GL_TEXTURE_2D); - - // Store list options - this->SetList(opt->cameraIndex, listId, *opt); - glEndList(); - } - - // Call the display list - if (listId) - { - // Compute offset based on camera pose; we only draw the plane around the camera - sx = Max(this->patchSize, this->textureSize.x); - sy = Max(this->patchSize, this->textureSize.y); - ni = (int) floor(opt->cameraPose.pos.x / sx + 0.5); - nj = (int) floor(opt->cameraPose.pos.y / sy + 0.5); - offset = GzVectorSet((ni + 0.5) * sx, (nj + 0.5) * sy, 0); - glTranslatef(offset.x, offset.y, offset.z); - - glCallList(listId); - PRINT_GL_ERR(); - } - - */ return; } --- 91,94 ---- Index: LightGeom.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/LightGeom.cc,v retrieving revision 1.11.2.2 retrieving revision 1.11.2.3 diff -C2 -d -r1.11.2.2 -r1.11.2.3 *** LightGeom.cc 10 Aug 2006 03:53:11 -0000 1.11.2.2 --- LightGeom.cc 11 Aug 2006 00:29:46 -0000 1.11.2.3 *************** *** 45,52 **** this->light = this->ogreSceneNode->getCreator()->createLight( "Light1" ); this->light->setType( Ogre::Light::LT_POINT ); ! this->light->setPosition( Ogre::Vector3(0,100,-100)); this->light->setDiffuseColour(1.0, 1.0, 1.0); this->light->setSpecularColour(1.0, 1.0, 1.0); ! return; } --- 45,52 ---- this->light = this->ogreSceneNode->getCreator()->createLight( "Light1" ); this->light->setType( Ogre::Light::LT_POINT ); ! this->light->setPosition( Ogre::Vector3(0,200,-50)); this->light->setDiffuseColour(1.0, 1.0, 1.0); this->light->setSpecularColour(1.0, 1.0, 1.0); ! return; } Index: Geom.hh =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/Geom.hh,v retrieving revision 1.31.2.1 retrieving revision 1.31.2.2 diff -C2 -d -r1.31.2.1 -r1.31.2.2 *** Geom.hh 15 Mar 2006 22:45:38 -0000 1.31.2.1 --- Geom.hh 11 Aug 2006 00:29:46 -0000 1.31.2.2 *************** *** 37,40 **** --- 37,41 ---- class GzImage; class Body; + namespace Ogre { *************** *** 189,194 **** protected: bool dirty; ! /// Scene node for this geometry ! protected: Ogre::SceneNode *ogreSceneNode; }; --- 190,194 ---- protected: bool dirty; ! }; Index: WheelGeom.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/WheelGeom.cc,v retrieving revision 1.8.2.1 retrieving revision 1.8.2.2 diff -C2 -d -r1.8.2.1 -r1.8.2.2 *** WheelGeom.cc 15 Mar 2006 22:45:38 -0000 1.8.2.1 --- WheelGeom.cc 11 Aug 2006 00:29:46 -0000 1.8.2.2 *************** *** 20,26 **** */ ! #include <GL/gl.h> ! #include <GL/glu.h> ! #include <GL/glut.h> #include "WheelGeom.hh" --- 20,24 ---- */ ! #include <Ogre.h> #include "WheelGeom.hh" *************** *** 43,46 **** --- 41,59 ---- this->tireRadius = tireRadius; + // Get the sphere mesh + Ogre::Entity *ent = this->ogreSceneNode->getCreator()->createEntity(this->entityName, "wheel.mesh"); + + // Attach thte sphere to the scene node + this->ogreSceneNode->attachObject(ent); + + // Set the size of the sphere + this->ogreSceneNode->setScale(totalRadius,totalRadius,tireRadius); + + // Set the position of the sphere + this->ogreSceneNode->setPosition(0, totalRadius, 0); + + // Allow the sphere to cast shadows + ent->setCastShadows(true); + return; } *************** *** 57,113 **** void WheelGeom::Render(RenderOptions *opt) { - GLUquadricObj *quad; - GLuint listId; - RenderOptions listOpt; - - // Recover stored display list for this camera - this->GetList(opt->cameraIndex, &listId, &listOpt); - - // See if the current display list is dirty - this->dirty |= (listId == 0); - this->dirty |= (opt->displayMaterials != listOpt.displayMaterials); - this->dirty |= (opt->displayTextures != listOpt.displayTextures); - - // Generate the display list - if (this->dirty) - { - if (listId == 0) - listId = glGenLists(1); - glNewList(listId, GL_COMPILE); - - // Set material properties - if (opt->displayMaterials) - { - glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, this->colorAmbient); - glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, this->colorDiffuse); - glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, this->colorSpecular); - glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, this->shininess); - } - - // Create the tire - glutSolidTorus(this->tireRadius, this->totalRadius - this->tireRadius, 16, 16); - - // Create the hub - glTranslatef(0, 0, +this->tireRadius * 0.8); - quad = gluNewQuadric(); - gluQuadricOrientation(quad, GLU_OUTSIDE); - gluDisk(quad, 0, this->totalRadius * 0.8, 32, 4); - gluDeleteQuadric(quad); - - glTranslatef(0, 0, -this->tireRadius * 1.6); - quad = gluNewQuadric(); - gluQuadricOrientation(quad, GLU_INSIDE); - gluDisk(quad, 0, this->totalRadius * 0.8, 32, 4); - gluDeleteQuadric(quad); - - // Store list options - this->SetList(opt->cameraIndex, listId, *opt); - glEndList(); - } - - // Call the display list - if (listId) - glCallList(listId); - return; } --- 70,73 ---- Index: CylinderGeom.cc =================================================================== RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/CylinderGeom.cc,v retrieving revision 1.20.2.2 retrieving revision 1.20.2.3 diff -C2 -d -r1.20.2.2 -r1.20.2.3 *** CylinderGeom.cc 15 Mar 2006 22:45:38 -0000 1.20.2.2 --- CylinderGeom.cc 11 Aug 2006 00:29:46 -0000 1.20.2.3 *************** *** 55,63 **** this->length = length; ! Ogre::Entity *ent = this->ogreSceneNode->getCreator()->createEntity("Cylinder", "column.mesh"); ent->setCastShadows(true); this->ogreSceneNode->attachObject(ent); return; } --- 55,73 ---- this->length = length; ! // Get the mesh ! Ogre::Entity *ent = this->ogreSceneNode->getCreator()->createEntity("Cylinder", "cylinder.mesh"); ! ! // Allow it to cast shadows ent->setCastShadows(true); + // Attach the sphere to the scene node this->ogreSceneNode->attachObject(ent); + // Set the size of the cylinder + this->ogreSceneNode->scale(radius,radius,length); + + // Set the default position of the cylinder + this->ogreSceneNode->translate(0,radius,0); + return; } |