Re: [Playerstage-developers] approaching Stage 3.1 release

[Toby C. <tco...@pl...>]

Hi Richard,
I have one small thought about how models are specified. At the moment child
objects are stacked on top of their parent. For me personally it is more
intuitive to specify child model poses from the parent origin, rather than
its top.

Obviously this was specifically added for a reason, but I feel taking out
this offset makes it much easier to specify complicated models, and not much
more difficult in the stacked case. If you agree then I am happy to update
the models distributed with stage to operate in this manner. If not I am
certainly not going to loose any sleep over it :)

I think the relevant bits of code were model_draw.cc
// move into this model's local coordinate frame
void Model::PushLocalCoords()
{
  glPushMatrix();

  if( parent )
    glTranslatef( 0,0, parent->geom.size.z );

  Gl::pose_shift( pose );
}

and model_getset.cc
// get the model's position in the global frame
Pose Model::GetGlobalPose() const
{
  // if I'm a top level model, my global pose is my local pose
  if( parent == NULL )
    return pose;

  // otherwise
  Pose global_pose = pose_sum( parent->GetGlobalPose(), pose );

  // we are on top of our parent
  global_pose.z += parent->geom.size.z;

  return global_pose;
}

2009/6/23 Richard Vaughan <va...@sf...>

> Folks,
>
> Stage SVN trunk is working well and has many features that are missing
> in 3.0.1. I'd like to do release 3.1.0 in July, so this is a last call
> for new feature patches. Around 1 July I will stop adding new features
> and concentrate on docs, build bugs, etc. Until then, if you have some
> good Stage code that you'd like to see in the release, please send
> your patch to the tracker at Sourceforge. Nice demo world files and
> controllers are also welcome.
>
> Stage-3.1 concentrates on adding models missing from 3.0 (including
> grippers batteries and chargers), the libstage API, and performance.
>
> After this release, I aim to add Windows as a standard platform, in
> line with Player's recent Windows support.
>
> While I have your eyes, I'd like to thank Toby Collett for his
> excellent support of the released versions, and some great trunk
> patches. If you run into him  please buy him a beer.
>
> Richard/
>
> --
> Richard Vaughan
> Autonomy Lab / Computing Science / Simon Fraser University
>
>
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