From: <na...@us...> - 2008-08-10 11:26:20
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Revision: 6947 http://playerstage.svn.sourceforge.net/playerstage/?rev=6947&view=rev Author: natepak Date: 2008-08-10 18:26:25 +0000 (Sun, 10 Aug 2008) Log Message: ----------- Fixed visual placement of nested geometries. Modified Paths: -------------- code/gazebo/trunk/server/physics/Geom.cc Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2008-08-09 02:30:28 UTC (rev 6946) +++ code/gazebo/trunk/server/physics/Geom.cc 2008-08-10 18:26:25 UTC (rev 6947) @@ -268,19 +268,17 @@ // Transform into CoM relative Pose localPose = pose - this->body->GetCoMPose(); - q[0] = localPose.rot.u; q[1] = localPose.rot.x; q[2] = localPose.rot.y; q[3] = localPose.rot.z; - // Set the pose of the encapsulated geom; this is always relative // to the CoM dGeomSetPosition(this->geomId, localPose.pos.x, localPose.pos.y, localPose.pos.z); dGeomSetQuaternion(this->geomId, q); - this->visualNode->SetPose(localPose); + this->visualNode->SetPose(pose); if (updateCoM) { This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <na...@us...> - 2008-11-27 16:30:18
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Revision: 7179 http://playerstage.svn.sourceforge.net/playerstage/?rev=7179&view=rev Author: natepak Date: 2008-11-27 16:30:16 +0000 (Thu, 27 Nov 2008) Log Message: ----------- Added patch 2281260 Modified Paths: -------------- code/gazebo/trunk/server/physics/Geom.cc Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2008-11-27 13:59:30 UTC (rev 7178) +++ code/gazebo/trunk/server/physics/Geom.cc 2008-11-27 16:30:16 UTC (rev 7179) @@ -530,6 +530,8 @@ { if (index < this->visuals.size()) return this->visuals[index]; + + return NULL; } //////////////////////////////////////////////////////////////////////////////// This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <hsu...@us...> - 2009-05-19 17:58:33
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Revision: 7694 http://playerstage.svn.sourceforge.net/playerstage/?rev=7694&view=rev Author: hsujohnhsu Date: 2009-05-19 17:58:30 +0000 (Tue, 19 May 2009) Log Message: ----------- rotating bounding box visuals. (why is translation not needed here?) Modified Paths: -------------- code/gazebo/trunk/server/physics/Geom.cc Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2009-05-19 14:33:39 UTC (rev 7693) +++ code/gazebo/trunk/server/physics/Geom.cc 2009-05-19 17:58:30 UTC (rev 7694) @@ -184,7 +184,11 @@ visname.str(), this->visualNode); if (this->bbVisual) + { this->bbVisual->AttachBoundingBox(min,max); + //this->bbVisual->SetPosition(pose.pos); + this->bbVisual->SetRotation(pose.rot); + } } if (this->geomId && dGeomGetClass(this->geomId) != dPlaneClass && This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <hsu...@us...> - 2009-05-19 21:17:17
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Revision: 7697 http://playerstage.svn.sourceforge.net/playerstage/?rev=7697&view=rev Author: hsujohnhsu Date: 2009-05-19 21:17:11 +0000 (Tue, 19 May 2009) Log Message: ----------- bounding box visual fix. Modified Paths: -------------- code/gazebo/trunk/server/physics/Geom.cc Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2009-05-19 18:01:25 UTC (rev 7696) +++ code/gazebo/trunk/server/physics/Geom.cc 2009-05-19 21:17:11 UTC (rev 7697) @@ -186,8 +186,7 @@ if (this->bbVisual) { this->bbVisual->AttachBoundingBox(min,max); - //this->bbVisual->SetPosition(pose.pos); - this->bbVisual->SetRotation(pose.rot); + this->bbVisual->SetRotation(pose.rot.GetInverse()); //transform aabb from global frame back to local frame } } This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <ro...@us...> - 2009-06-18 11:29:09
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Revision: 7856 http://playerstage.svn.sourceforge.net/playerstage/?rev=7856&view=rev Author: robotos Date: 2009-06-18 11:28:09 +0000 (Thu, 18 Jun 2009) Log Message: ----------- bbVisuals calls should all be checked. Modified Paths: -------------- code/gazebo/trunk/server/physics/Geom.cc Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2009-06-18 11:26:06 UTC (rev 7855) +++ code/gazebo/trunk/server/physics/Geom.cc 2009-06-18 11:28:09 UTC (rev 7856) @@ -183,10 +183,10 @@ this->bbVisual = OgreCreator::Instance()->CreateVisual( visname.str(), this->visualNode); - this->bbVisual->SetCastShadows(false); if (this->bbVisual) { + this->bbVisual->SetCastShadows(false); this->bbVisual->AttachBoundingBox(min,max); this->bbVisual->SetRotation(pose.rot.GetInverse()); //transform aabb from global frame back to local frame } This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <hsu...@us...> - 2009-07-11 22:36:20
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Revision: 7994 http://playerstage.svn.sourceforge.net/playerstage/?rev=7994&view=rev Author: hsujohnhsu Date: 2009-07-11 22:36:19 +0000 (Sat, 11 Jul 2009) Log Message: ----------- explicitly specify default Geom collision bits as GZ_ALL_COLLIDE. Modified Paths: -------------- code/gazebo/trunk/server/physics/Geom.cc Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2009-07-11 22:32:13 UTC (rev 7993) +++ code/gazebo/trunk/server/physics/Geom.cc 2009-07-11 22:36:19 UTC (rev 7994) @@ -273,7 +273,7 @@ else { this->SetCategoryBits(GZ_ALL_COLLIDE); - //this->SetCollideBits(~GZ_FIXED_COLLIDE); + this->SetCollideBits(GZ_ALL_COLLIDE); } this->physicsEngine->UnlockMutex(); This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <hsu...@us...> - 2009-07-30 02:35:17
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Revision: 8157 http://playerstage.svn.sourceforge.net/playerstage/?rev=8157&view=rev Author: hsujohnhsu Date: 2009-07-30 02:35:06 +0000 (Thu, 30 Jul 2009) Log Message: ----------- comment out if statement that seems wrong for Trimesh construction. Modified Paths: -------------- code/gazebo/trunk/server/physics/Geom.cc Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2009-07-30 02:33:46 UTC (rev 8156) +++ code/gazebo/trunk/server/physics/Geom.cc 2009-07-30 02:35:06 UTC (rev 8157) @@ -249,7 +249,10 @@ if (this->placeable && !this->IsStatic()) { - if (dGeomGetClass(geomId) != dTriMeshClass) + /// Not sure why this if statement was here + /// trimesh loading works fine without it + /// commenting out for now + //if (dGeomGetClass(geomId) != dTriMeshClass) { this->transId = dCreateGeomTransform( this->spaceId ); dGeomTransformSetGeom( this->transId, this->geomId ); @@ -272,6 +275,7 @@ } else { + // collide with all this->SetCategoryBits(GZ_ALL_COLLIDE); this->SetCollideBits(GZ_ALL_COLLIDE); } This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <hsu...@us...> - 2009-08-09 22:13:14
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Revision: 8187 http://playerstage.svn.sourceforge.net/playerstage/?rev=8187&view=rev Author: hsujohnhsu Date: 2009-08-09 22:13:06 +0000 (Sun, 09 Aug 2009) Log Message: ----------- comments on assert in SetGeom for trimesh class. Modified Paths: -------------- code/gazebo/trunk/server/physics/Geom.cc Modified: code/gazebo/trunk/server/physics/Geom.cc =================================================================== --- code/gazebo/trunk/server/physics/Geom.cc 2009-08-08 01:44:39 UTC (rev 8186) +++ code/gazebo/trunk/server/physics/Geom.cc 2009-08-09 22:13:06 UTC (rev 8187) @@ -249,7 +249,7 @@ if (this->placeable && !this->IsStatic()) { - /// Not sure why this if statement was here + /// @todo: Not sure why this if statement was here /// trimesh loading works fine without it /// commenting out for now //if (dGeomGetClass(geomId) != dTriMeshClass) @@ -257,7 +257,9 @@ this->transId = dCreateGeomTransform( this->spaceId ); dGeomTransformSetGeom( this->transId, this->geomId ); dGeomTransformSetInfo( this->transId, 1 ); - assert(dGeomGetSpace(this->geomId) == 0); + /// @todo: this assert seems to break when geom is a trimesh, why? + if (dGeomGetClass(geomId) != dTriMeshClass) + assert(dGeomGetSpace(this->geomId) == 0); } } else if ( dGeomGetSpace(this->geomId) == 0 ) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |