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From: <he...@us...> - 2010-12-19 19:19:05
|
Revision: 241
http://simspark.svn.sourceforge.net/simspark/?rev=241&view=rev
Author: hedayat
Date: 2010-12-19 19:18:59 +0000 (Sun, 19 Dec 2010)
Log Message:
-----------
Added boost's date_time library to the list of required libraries
Modified Paths:
--------------
trunk/spark/CMakeLists.txt
trunk/spark/ChangeLog
Modified: trunk/spark/CMakeLists.txt
===================================================================
--- trunk/spark/CMakeLists.txt 2010-12-17 00:24:51 UTC (rev 240)
+++ trunk/spark/CMakeLists.txt 2010-12-19 19:18:59 UTC (rev 241)
@@ -41,7 +41,7 @@
find_package(Ruby REQUIRED)
find_package(Freetype REQUIRED)
find_package(DevIL REQUIRED)
-find_package(Boost REQUIRED thread COMPONENTS regex)
+find_package(Boost REQUIRED thread COMPONENTS regex date_time)
find_package(wxWidgets COMPONENTS gl base core)
find_package(ODE REQUIRED)
find_package(OpenGL REQUIRED)
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2010-12-17 00:24:51 UTC (rev 240)
+++ trunk/spark/ChangeLog 2010-12-19 19:18:59 UTC (rev 241)
@@ -24,6 +24,11 @@
* test/scenetest/main.cpp
- be able to render camera image on and off screen
+2010-12-14 Hedayat Vatankhah <hed...@gm...>
+
+ * CMakeLists.txt:
+ - added boost date_time library to the required libs
+
2010-12-14 Yuan Xu <xu...@in...>
* plugin/imageperceptor
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <yx...@us...> - 2010-12-17 00:24:57
|
Revision: 240
http://simspark.svn.sourceforge.net/simspark/?rev=240&view=rev
Author: yxu
Date: 2010-12-17 00:24:51 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
ops
Modified Paths:
--------------
trunk/spark/plugin/imageperceptor/imagerender.cpp
Modified: trunk/spark/plugin/imageperceptor/imagerender.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:23:36 UTC (rev 239)
+++ trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:24:51 UTC (rev 240)
@@ -101,8 +101,7 @@
void ImageRender::Render()
{
- mRequested = true;
- if ( (!mRequested) ||
+ if ( (!(mRequested || !mOffScreen )) ||
(mOpenGLServer.expired()) ||
(mRenderServer.expired())
)
@@ -159,7 +158,7 @@
mDataSize = size;
}
- glReadPixels(, mScreenPosY,
+ glReadPixels(mScreenPosX, mScreenPosY,
w, h,
GL_RGB,
GL_UNSIGNED_BYTE,
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From: <yx...@us...> - 2010-12-17 00:23:43
|
Revision: 239
http://simspark.svn.sourceforge.net/simspark/?rev=239&view=rev
Author: yxu
Date: 2010-12-17 00:23:36 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
ChangeLog
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rsgedit/ChangeLog
trunk/spark/ChangeLog
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2010-12-17 00:23:17 UTC (rev 238)
+++ trunk/rcssserver3d/ChangeLog 2010-12-17 00:23:36 UTC (rev 239)
@@ -1,3 +1,9 @@
+2010-12-14 Yuan Xu <xu...@in...>
+ * rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
+ * rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
+ * spark/lib/oxygen/proxyserver/agentproxy.cpp
+ - compile by VC10
+
2010-09-28 Sander van Dijk <sgv...@gm...>
* plugin/soccermonitor/soccerrender.cpp
Modified: trunk/rsgedit/ChangeLog
===================================================================
--- trunk/rsgedit/ChangeLog 2010-12-17 00:23:17 UTC (rev 238)
+++ trunk/rsgedit/ChangeLog 2010-12-17 00:23:36 UTC (rev 239)
@@ -1,3 +1,7 @@
+2010-12-14 Yuan Xu <xu...@in...>
+ * CMakeLists.txt
+ - use UseWxWidgets.cmake
+
2010-02-28 Marian Buchta <mar...@gm...>
* cmake/FindBoost.cmake:
@@ -51,4 +55,4 @@
* wxutil/CMakeLists.txt:
* CMakeLists.txt:
- add wxWidgets definitions to toplevel compiler flags and remove from
- other files
\ No newline at end of file
+ other files
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2010-12-17 00:23:17 UTC (rev 238)
+++ trunk/spark/ChangeLog 2010-12-17 00:23:36 UTC (rev 239)
@@ -1,15 +1,32 @@
-2010-12-14 Yuan Xu <xu...@in...>
- * rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
- * rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
- * spark/lib/oxygen/proxyserver/agentproxy.cpp
- - compile by VC10
+2010-12-15 Yuan Xu <xu...@in...>
+ * plugin/imageperceptor/CMakeLists.txt
+ * plugin/imageperceptor/export.cpp
+ * plugin/imageperceptor/imageperceptor.cpp
+ * plugin/imageperceptor/imageperceptor.h
+ * plugin/imageperceptor/imagerender.cpp
+ * plugin/imageperceptor/imagerender.h
+ * plugin/imageperceptor/imagerender_c.cpp
+ - separate the render code
+ - render the image of camera in RenderControl
+
+ * spark/spark.rb
+ - multi-threads works!
+
+ * lib/kerosin/renderserver/baserenderserver.h
+ * lib/kerosin/renderserver/rendercontrol.cpp
+ * lib/kerosin/renderserver/renderserver.cpp
+ * lib/kerosin/renderserver/renderserver.h
+ * plugin/imageperceptor/imageperceptor.cpp
+ * plugin/imageperceptor/imageperceptor.h
+ * plugin/imageperceptor/imageperceptor_c.cpp
+ * plugin/imageperceptor/imagerender.cpp
+ * plugin/imageperceptor/imagerender.h
+ * test/scenetest/main.cpp
+ - be able to render camera image on and off screen
- * rsgedit/CMakeLists.txt
- - use UseWxWidgets.cmake
-
2010-12-14 Yuan Xu <xu...@in...>
- * spark/plugin/imageperceptor
+ * plugin/imageperceptor
* spark/spark.rb
- use base64 encoding image
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|
|
From: <yx...@us...> - 2010-12-17 00:23:23
|
Revision: 238
http://simspark.svn.sourceforge.net/simspark/?rev=238&view=rev
Author: yxu
Date: 2010-12-17 00:23:17 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
be able to render camera image on and off screen
Modified Paths:
--------------
trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
trunk/spark/lib/kerosin/renderserver/baserenderserver.h
trunk/spark/lib/kerosin/renderserver/rendercontrol.cpp
trunk/spark/lib/kerosin/renderserver/renderserver.cpp
trunk/spark/lib/kerosin/renderserver/renderserver.h
trunk/spark/plugin/imageperceptor/imageperceptor.cpp
trunk/spark/plugin/imageperceptor/imageperceptor.h
trunk/spark/plugin/imageperceptor/imageperceptor_c.cpp
trunk/spark/plugin/imageperceptor/imagerender.cpp
trunk/spark/plugin/imageperceptor/imagerender.h
trunk/spark/test/scenetest/main.cpp
Modified: trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2010-12-17 00:23:17 UTC (rev 238)
@@ -99,7 +99,8 @@
;; (setLocalRotation 0 0 0)
;; (nd ImagePerceptor
;; (setInterval 3)
- ;; (setViewport 0 0 320 240)
+ ;; (setOffScreen false)
+ ;; (setResolution 320 240)
;; (setFOV 58)
;; (setZNear 0.003)
;; (setZFar 50)
Modified: trunk/spark/lib/kerosin/renderserver/baserenderserver.h
===================================================================
--- trunk/spark/lib/kerosin/renderserver/baserenderserver.h 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/lib/kerosin/renderserver/baserenderserver.h 2010-12-17 00:23:17 UTC (rev 238)
@@ -51,7 +51,7 @@
virtual ~BaseRenderServer() {}
//! display the current active scene
- virtual void Render() = 0;
+ virtual void Render(bool clean) = 0;
//! width of the render target
virtual int Width() const { return 0; }
Modified: trunk/spark/lib/kerosin/renderserver/rendercontrol.cpp
===================================================================
--- trunk/spark/lib/kerosin/renderserver/rendercontrol.cpp 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/lib/kerosin/renderserver/rendercontrol.cpp 2010-12-17 00:23:17 UTC (rev 238)
@@ -87,7 +87,7 @@
// update the window (pumps event loop, etc..) and render the
// current frame
mOpenGLServer->Update();
- mRenderServer->Render();
+ mRenderServer->Render(true);
RenderCustom();
mOpenGLServer->SwapBuffers();
++mFramesRendered;
Modified: trunk/spark/lib/kerosin/renderserver/renderserver.cpp
===================================================================
--- trunk/spark/lib/kerosin/renderserver/renderserver.cpp 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/lib/kerosin/renderserver/renderserver.cpp 2010-12-17 00:23:17 UTC (rev 238)
@@ -56,7 +56,7 @@
}
void
-RenderServer::Render()
+RenderServer::Render(bool clean)
{
PreparePicking();
@@ -74,21 +74,29 @@
GetLog()->Error()
<< "(RenderServer) ERROR: found no camera node in the active scene\n";
return;
- }
+ }
+ // set the view transformation
+ BindCamera(mCamera);
+
glClearColor(
- mAmbientColor.r(),
- mAmbientColor.g(),
- mAmbientColor.b(),
- mAmbientColor.a()
- );
+ mAmbientColor.r(),
+ mAmbientColor.g(),
+ mAmbientColor.b(),
+ mAmbientColor.a()
+ );
- glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
- glColor3f(1,1,1);
+ if (clean)
+ {
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+ }
+ else
+ {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ }
+ glColor3f(1, 1, 1);
+
- // set the view transformation
- BindCamera(mCamera);
-
// actual rendering
// ambient pass
Modified: trunk/spark/lib/kerosin/renderserver/renderserver.h
===================================================================
--- trunk/spark/lib/kerosin/renderserver/renderserver.h 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/lib/kerosin/renderserver/renderserver.h 2010-12-17 00:23:17 UTC (rev 238)
@@ -65,7 +65,7 @@
virtual ~RenderServer() {}
//! display the current active scene
- virtual void Render();
+ virtual void Render(bool clean);
//! @return the width of the current view
virtual int Width() const;
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:23:17 UTC (rev 238)
@@ -89,9 +89,9 @@
return true;
}
-void ImagePerceptor::SetViewport(unsigned int x, unsigned int y, unsigned int w, unsigned int h)
+void ImagePerceptor::SetResolution(unsigned int w, unsigned int h)
{
- mCamera->SetViewport(x, y, w, h);
+ mRender->SetResolution(w,h);
}
void ImagePerceptor::SetFOV(float fov)
@@ -108,3 +108,8 @@
{
mCamera->SetZFar(zFar);
}
+
+void ImagePerceptor::SetOffScreen(bool offScreen)
+{
+ mRender->SetOffScreen(offScreen);
+}
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.h 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.h 2010-12-17 00:23:17 UTC (rev 238)
@@ -38,13 +38,15 @@
virtual void OnLink();
- void SetViewport(unsigned int x, unsigned int y, unsigned int w, unsigned int h);
+ void SetResolution(unsigned int w, unsigned int h);
void SetFOV(float fov);
void SetZNear(float zNear);
void SetZFar(float zFar);
+
+ void SetOffScreen(bool offScreen);
private:
boost::shared_ptr<oxygen::Camera> mCamera;
Modified: trunk/spark/plugin/imageperceptor/imageperceptor_c.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor_c.cpp 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/plugin/imageperceptor/imageperceptor_c.cpp 2010-12-17 00:23:17 UTC (rev 238)
@@ -23,22 +23,20 @@
using namespace boost;
using namespace oxygen;
-FUNCTION(ImagePerceptor, setViewport)
+FUNCTION(ImagePerceptor, setResolution)
{
- unsigned int x,y,w,h;
+ unsigned int w,h;
if (
- (in.GetSize() != 4) ||
- (! in.GetValue(in[0], x) ) ||
- (! in.GetValue(in[1], y) ) ||
- (! in.GetValue(in[2], w) ) ||
- (! in.GetValue(in[3], h) )
+ (in.GetSize() != 2) ||
+ (! in.GetValue(in[0], w) ) ||
+ (! in.GetValue(in[1], h) )
)
{
return false;
}
- obj->SetViewport(x, y, w, h);
+ obj->SetResolution(w, h);
return true;
}
@@ -90,11 +88,28 @@
return true;
}
+FUNCTION(ImagePerceptor, setOffScreen)
+{
+ bool offScreen;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in[0], offScreen) )
+ )
+ {
+ return false;
+ }
+
+ obj->SetOffScreen(offScreen);
+ return true;
+}
+
void CLASS(ImagePerceptor)::DefineClass()
{
DEFINE_BASECLASS(oxygen/Perceptor);
- DEFINE_FUNCTION(setViewport);
+ DEFINE_FUNCTION(setResolution);
DEFINE_FUNCTION(setFOV);
DEFINE_FUNCTION(setZNear);
DEFINE_FUNCTION(setZFar);
+ DEFINE_FUNCTION(setOffScreen);
}
Modified: trunk/spark/plugin/imageperceptor/imagerender.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:23:17 UTC (rev 238)
@@ -33,7 +33,6 @@
#include "imagerender.h"
#include <zeitgeist/logserver/logserver.h>
-#define USE_FBO
// using namespace kerosin;
using namespace oxygen;
@@ -42,8 +41,12 @@
using namespace salt;
using namespace std;
+unsigned int ImageRender::autoScreenPosX = 0;
+unsigned int ImageRender::autoScreenPosY = 0;
+
ImageRender::ImageRender(): kerosin::CustomRender(),
- mDataSize(0), mWidth(0), mHeight(0), mRequested(false)
+ mDataSize(0), mWidth(0), mHeight(0), mRequested(false),mOffScreen(false),
+ mScreenPosX(0), mScreenPosY(0)
{
}
@@ -53,7 +56,7 @@
#define REG_GL_EXT_FUN(_ptr, _function) \
static _ptr _function = (_ptr) mOpenGLServer->GetExtension(#_function);\
if ( !_function ){ \
- GetLog()->Error()<<"(Image Perceptor) ERROR: can not get "#_function"\n"; \
+ GetLog()->Error()<<"(ImageRender) ERROR: can not get "#_function"\n"; \
}
void ImageRender::SetCamera(boost::shared_ptr<oxygen::Camera> camera)
@@ -68,7 +71,7 @@
if (mRenderServer.expired())
{
GetLog()->Error()
- << "(ImagePerceptor) ERROR: RenderServer not found\n";
+ << "(ImageRender) ERROR: RenderServer not found\n";
}
RegisterCachedPath(mOpenGLServer,"/sys/server/opengl");
@@ -76,7 +79,7 @@
if (mOpenGLServer.expired())
{
GetLog()->Error()
- << "(ImagePerceptor) ERROR: OpenGLServer not found\n";
+ << "(ImageRender) ERROR: OpenGLServer not found\n";
}
// create a framebuffer object
@@ -98,6 +101,7 @@
void ImageRender::Render()
{
+ mRequested = true;
if ( (!mRequested) ||
(mOpenGLServer.expired()) ||
(mRenderServer.expired())
@@ -109,19 +113,20 @@
int w = mCamera->GetViewportWidth();
int h = mCamera->GetViewportHeight();
-#ifdef USE_FBO
- REG_GL_EXT_FUN( PFNGLBINDFRAMEBUFFEREXTPROC, glBindFramebufferEXT );
- REG_GL_EXT_FUN( PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC, glFramebufferRenderbufferEXT );
- REG_GL_EXT_FUN( PFNGLRENDERBUFFERSTORAGEEXTPROC, glRenderbufferStorageEXT );
- REG_GL_EXT_FUN( PFNGLBINDRENDERBUFFEREXTPROC, glBindRenderbufferEXT);
- REG_GL_EXT_FUN( PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC, glCheckFramebufferStatusEXT );
+ if (mOffScreen)
+ {
+ REG_GL_EXT_FUN(PFNGLBINDFRAMEBUFFEREXTPROC, glBindFramebufferEXT);
+ REG_GL_EXT_FUN(PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC, glFramebufferRenderbufferEXT);
+ REG_GL_EXT_FUN(PFNGLRENDERBUFFERSTORAGEEXTPROC, glRenderbufferStorageEXT);
+ REG_GL_EXT_FUN(PFNGLBINDRENDERBUFFEREXTPROC, glBindRenderbufferEXT);
+ REG_GL_EXT_FUN(PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC, glCheckFramebufferStatusEXT);
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, mFBOId);
glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, mRBOId);
glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_RGB, w, h);
glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_COLOR_ATTACHMENT0_EXT,
- GL_RENDERBUFFER_EXT, mRBOId);
+ GL_RENDERBUFFER_EXT, mRBOId);
glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, mDepthBuffer);
glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_DEPTH_COMPONENT, w, h);
@@ -130,20 +135,22 @@
// check FBO status
GLenum status = glCheckFramebufferStatusEXT(GL_FRAMEBUFFER_EXT);
- if(status != GL_FRAMEBUFFER_COMPLETE_EXT){
-// GetLog()->Error()<<"fbo error!\n";
+ if (status != GL_FRAMEBUFFER_COMPLETE_EXT)
+ {
+ GetLog()->Error() << "(ImageRender) fbo error!\n";
}
-#endif
+ }
+
// setup the camera
boost::shared_ptr<Camera> oldCamera = mRenderServer->GetCamera();
mRenderServer->SetCamera(mCamera);
- mRenderServer->Render();
+ mRenderServer->Render(false);
-#ifdef USE_FBO
-#else
+ if (!mOffScreen)
+ {
glReadBuffer(GL_BACK);
-#endif
+ }
int size = w*h*3;
if ( size != mDataSize )
@@ -152,7 +159,7 @@
mDataSize = size;
}
- glReadPixels(0, 0,
+ glReadPixels(, mScreenPosY,
w, h,
GL_RGB,
GL_UNSIGNED_BYTE,
@@ -160,11 +167,35 @@
mWidth = w;
mHeight = h;
-#ifdef USE_FBO
+ if (mOffScreen)
+ {
// unbind FBO
+ REG_GL_EXT_FUN(PFNGLBINDFRAMEBUFFEREXTPROC, glBindFramebufferEXT);
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, 0);
-#endif
+ }
+
mRenderServer->SetCamera(oldCamera);
mRequested = false;
}
+
+void ImageRender::SetResolution(int w, int h)
+{
+ if (!mOffScreen) // HACK!
+ {
+ // asssert this function is called only once per instance
+ // auto position on screen (simple)
+ mScreenPosX = autoScreenPosX;
+ int screenWidth = mRenderServer->GetCamera()->GetViewportWidth();
+ if (mScreenPosX + w > screenWidth)
+ {
+ mScreenPosX = 0;
+ autoScreenPosY += h;
+ }
+ autoScreenPosX = mScreenPosX + w;
+ mScreenPosY = autoScreenPosY;
+ //
+ }
+
+ mCamera->SetViewport(mScreenPosX, mScreenPosY, w, h);
+}
\ No newline at end of file
Modified: trunk/spark/plugin/imageperceptor/imagerender.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.h 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/plugin/imageperceptor/imagerender.h 2010-12-17 00:23:17 UTC (rev 238)
@@ -53,7 +53,14 @@
void RequestRender() { mRequested = true; }
+ void SetResolution(int w, int h);
+
+ void SetOffScreen(bool offScreen) { mOffScreen = offScreen; }
+
+ void SetScreenPos(int x, int y) { mScreenPosX = x; mScreenPosY = y; }
+
private:
+
boost::shared_ptr<oxygen::Camera> mCamera;
/** cached reference to the RenderServer */
@@ -67,10 +74,15 @@
int mWidth;
int mHeight;
bool mRequested;
+ bool mOffScreen;
+ int mScreenPosX, mScreenPosY;
unsigned int mFBOId;
unsigned int mRBOId;
unsigned int mDepthBuffer;
+
+ static unsigned int autoScreenPosX;
+ static unsigned int autoScreenPosY;
};
DECLARE_CLASS(ImageRender);
Modified: trunk/spark/test/scenetest/main.cpp
===================================================================
--- trunk/spark/test/scenetest/main.cpp 2010-12-17 00:22:35 UTC (rev 237)
+++ trunk/spark/test/scenetest/main.cpp 2010-12-17 00:23:17 UTC (rev 238)
@@ -163,7 +163,7 @@
shared_static_cast<RenderServer>(gContext->Get("/sys/server/scene"));
if (renderServer)
{
- renderServer->Render();
+ renderServer->Render(true);
}
#endif
}
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|
|
From: <yx...@us...> - 2010-12-17 00:22:41
|
Revision: 237
http://simspark.svn.sourceforge.net/simspark/?rev=237&view=rev
Author: yxu
Date: 2010-12-17 00:22:35 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
render the image for camera only when it is requested
Modified Paths:
--------------
trunk/spark/plugin/imageperceptor/imageperceptor.cpp
trunk/spark/plugin/imageperceptor/imagerender.cpp
trunk/spark/plugin/imageperceptor/imagerender.h
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:22:16 UTC (rev 236)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:22:35 UTC (rev 237)
@@ -64,22 +64,29 @@
}
bool ImagePerceptor::Percept(boost::shared_ptr<PredicateList> predList)
-{
- Predicate &predicate = predList->AddPredicate();
- predicate.name = "IMG";
- predicate.parameter.Clear();
-
- ParameterList &sizeElement = predicate.parameter.AddList();
- sizeElement.AddValue(std::string("s"));
- sizeElement.AddValue(mRender->GetWidth());
- sizeElement.AddValue(mRender->GetHeight());
+{
+ mRender->RequestRender();
- ParameterList &dataElement = predicate.parameter.AddList();
- dataElement.AddValue(std::string("d"));
- const char* data = mRender->GetData();
- string datacode = mB64Encoder.encode(data, mRender->GetDataSize());
- dataElement.AddValue(datacode);
- return true;
+ int size = mRender->GetDataSize();
+ if (size == 0)
+ return false;
+
+ Predicate &predicate = predList->AddPredicate();
+ predicate.name = "IMG";
+ predicate.parameter.Clear();
+
+ ParameterList &sizeElement = predicate.parameter.AddList();
+ sizeElement.AddValue(std::string("s"));
+ sizeElement.AddValue(mRender->GetWidth());
+ sizeElement.AddValue(mRender->GetHeight());
+
+ ParameterList &dataElement = predicate.parameter.AddList();
+ dataElement.AddValue(std::string("d"));
+ const char* data = mRender->GetData();
+ string datacode = mB64Encoder.encode(data, size);
+ dataElement.AddValue(datacode);
+
+ return true;
}
void ImagePerceptor::SetViewport(unsigned int x, unsigned int y, unsigned int w, unsigned int h)
Modified: trunk/spark/plugin/imageperceptor/imagerender.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:22:16 UTC (rev 236)
+++ trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:22:35 UTC (rev 237)
@@ -42,8 +42,8 @@
using namespace salt;
using namespace std;
-ImageRender::ImageRender(): // kerosin::CustomRender(),
- mDataSize(0), mWidth(0), mHeight(0)
+ImageRender::ImageRender(): kerosin::CustomRender(),
+ mDataSize(0), mWidth(0), mHeight(0), mRequested(false)
{
}
@@ -98,7 +98,7 @@
void ImageRender::Render()
{
- if (
+ if ( (!mRequested) ||
(mOpenGLServer.expired()) ||
(mRenderServer.expired())
)
@@ -166,4 +166,5 @@
#endif
mRenderServer->SetCamera(oldCamera);
+ mRequested = false;
}
Modified: trunk/spark/plugin/imageperceptor/imagerender.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.h 2010-12-17 00:22:16 UTC (rev 236)
+++ trunk/spark/plugin/imageperceptor/imagerender.h 2010-12-17 00:22:35 UTC (rev 237)
@@ -51,6 +51,8 @@
int GetHeight() const { return mHeight; }
+ void RequestRender() { mRequested = true; }
+
private:
boost::shared_ptr<oxygen::Camera> mCamera;
@@ -64,6 +66,7 @@
int mDataSize;
int mWidth;
int mHeight;
+ bool mRequested;
unsigned int mFBOId;
unsigned int mRBOId;
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|
|
From: <yx...@us...> - 2010-12-17 00:22:22
|
Revision: 236
http://simspark.svn.sourceforge.net/simspark/?rev=236&view=rev
Author: yxu
Date: 2010-12-17 00:22:16 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
capitalize first characters of functions
Modified Paths:
--------------
trunk/spark/plugin/imageperceptor/imageperceptor.cpp
trunk/spark/plugin/imageperceptor/imagerender.h
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:21:59 UTC (rev 235)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:22:16 UTC (rev 236)
@@ -71,13 +71,13 @@
ParameterList &sizeElement = predicate.parameter.AddList();
sizeElement.AddValue(std::string("s"));
- sizeElement.AddValue(mRender->getWidth());
- sizeElement.AddValue(mRender->getHeight());
+ sizeElement.AddValue(mRender->GetWidth());
+ sizeElement.AddValue(mRender->GetHeight());
ParameterList &dataElement = predicate.parameter.AddList();
dataElement.AddValue(std::string("d"));
- const char* data = mRender->getData();
- string datacode = mB64Encoder.encode(data, mRender->getDataSize());
+ const char* data = mRender->GetData();
+ string datacode = mB64Encoder.encode(data, mRender->GetDataSize());
dataElement.AddValue(datacode);
return true;
}
Modified: trunk/spark/plugin/imageperceptor/imagerender.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.h 2010-12-17 00:21:59 UTC (rev 235)
+++ trunk/spark/plugin/imageperceptor/imagerender.h 2010-12-17 00:22:16 UTC (rev 236)
@@ -43,13 +43,13 @@
void OnUnlink();
- const char* getData() const { return mData.get(); }
+ const char* GetData() const { return mData.get(); }
- int getDataSize() const { return mDataSize; }
+ int GetDataSize() const { return mDataSize; }
- int getWidth() const { return mWidth; }
+ int GetWidth() const { return mWidth; }
- int getHeight() const { return mHeight; }
+ int GetHeight() const { return mHeight; }
private:
boost::shared_ptr<oxygen::Camera> mCamera;
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|
|
From: <yx...@us...> - 2010-12-17 00:22:05
|
Revision: 235
http://simspark.svn.sourceforge.net/simspark/?rev=235&view=rev
Author: yxu
Date: 2010-12-17 00:21:59 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
multi-threads works! (do we really need mutex?!)
Modified Paths:
--------------
trunk/spark/plugin/imageperceptor/imagerender.cpp
trunk/spark/spark/spark.rb
Modified: trunk/spark/plugin/imageperceptor/imagerender.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:21:40 UTC (rev 234)
+++ trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:21:59 UTC (rev 235)
@@ -164,6 +164,6 @@
// unbind FBO
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, 0);
#endif
-// mRenderServer->SetCamera(oldCamera);
+ mRenderServer->SetCamera(oldCamera);
}
Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb 2010-12-17 00:21:40 UTC (rev 234)
+++ trunk/spark/spark/spark.rb 2010-12-17 00:21:59 UTC (rev 235)
@@ -283,7 +283,7 @@
simulationServer = sparkGetSimulationServer()
if (simulationServer != nil)
- simulationServer.setMultiThreads(false);
+ simulationServer.setMultiThreads(true);
simulationServer.initControlNode('oxygen/AgentControl','AgentControl')
# set auto speed adjust mode.
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|
|
From: <yx...@us...> - 2010-12-17 00:21:46
|
Revision: 234
http://simspark.svn.sourceforge.net/simspark/?rev=234&view=rev
Author: yxu
Date: 2010-12-17 00:21:40 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
render the image of camera in RenderControl
Modified Paths:
--------------
trunk/spark/plugin/imageperceptor/imageperceptor.cpp
trunk/spark/plugin/imageperceptor/imageperceptor.h
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:21:21 UTC (rev 233)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:21:40 UTC (rev 234)
@@ -50,13 +50,21 @@
}
mRender->SetCamera(mCamera);
- AddChildReference(mRender);
+
+ RegisterCachedPath(mRenderControl, "/sys/server/simulation/RenderControl");
+
+ if (mRenderControl.expired())
+ {
+ GetLog()->Error()
+ << "(ImagePerceptor) ERROR: RenderControl not found\n";
+ } else
+ {
+ mRenderControl->AddChildReference(mRender);
+ }
}
bool ImagePerceptor::Percept(boost::shared_ptr<PredicateList> predList)
-{
- mRender->Render();
-
+{
Predicate &predicate = predList->AddPredicate();
predicate.name = "IMG";
predicate.parameter.Clear();
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.h 2010-12-17 00:21:21 UTC (rev 233)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.h 2010-12-17 00:21:40 UTC (rev 234)
@@ -21,9 +21,10 @@
#ifndef IMAGEPERCEPTOR_H
#define IMAGEPERCEPTOR_H
+#include <libb64/encode.h>
#include <oxygen/agentaspect/perceptor.h>
#include <oxygen/sceneserver/camera.h>
-#include <libb64/encode.h>
+#include <kerosin/renderserver/rendercontrol.h>
#include "imagerender.h"
class ImagePerceptor : public oxygen::Perceptor
@@ -50,6 +51,8 @@
boost::shared_ptr<ImageRender> mRender;
+ zeitgeist::Leaf::CachedPath<kerosin::RenderControl> mRenderControl;
+
base64::Encoder mB64Encoder;
};
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|
|
From: <yx...@us...> - 2010-12-17 00:21:27
|
Revision: 233
http://simspark.svn.sourceforge.net/simspark/?rev=233&view=rev
Author: yxu
Date: 2010-12-17 00:21:21 +0000 (Fri, 17 Dec 2010)
Log Message:
-----------
separate the render code
Modified Paths:
--------------
trunk/spark/plugin/imageperceptor/CMakeLists.txt
trunk/spark/plugin/imageperceptor/export.cpp
trunk/spark/plugin/imageperceptor/imageperceptor.cpp
trunk/spark/plugin/imageperceptor/imageperceptor.h
Added Paths:
-----------
trunk/spark/plugin/imageperceptor/imagerender.cpp
trunk/spark/plugin/imageperceptor/imagerender.h
trunk/spark/plugin/imageperceptor/imagerender_c.cpp
Modified: trunk/spark/plugin/imageperceptor/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/imageperceptor/CMakeLists.txt 2010-12-16 11:27:58 UTC (rev 232)
+++ trunk/spark/plugin/imageperceptor/CMakeLists.txt 2010-12-17 00:21:21 UTC (rev 233)
@@ -6,6 +6,9 @@
imageperceptor.h
imageperceptor.cpp
imageperceptor_c.cpp
+ imagerender.h
+ imagerender.cpp
+ imagerender_c.cpp
)
add_library(imageperceptor MODULE ${imageperceptor_LIB_SRCS})
Modified: trunk/spark/plugin/imageperceptor/export.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/export.cpp 2010-12-16 11:27:58 UTC (rev 232)
+++ trunk/spark/plugin/imageperceptor/export.cpp 2010-12-17 00:21:21 UTC (rev 233)
@@ -19,8 +19,9 @@
*/
#include "imageperceptor.h"
-#include <zeitgeist/zeitgeist.h>
+#include "imagerender.h"
ZEITGEIST_EXPORT_BEGIN()
ZEITGEIST_EXPORT(ImagePerceptor);
+ ZEITGEIST_EXPORT(ImageRender);
ZEITGEIST_EXPORT_END()
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-16 11:27:58 UTC (rev 232)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-17 00:21:21 UTC (rev 233)
@@ -18,101 +18,44 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-// #include <IL/il.h>
-// #include <IL/ilu.h>
-// #include <sstream>
-#ifndef WIN32
-#if __APPLE__
-#include <OpenGL/gl.h>
-#else
-#include <GL/gl.h>
-#endif
-#else
-#include <windows.h>
-#include <GL/gl.h>
-#include <GL/glext.h>
-#endif
-
#include "imageperceptor.h"
#include <zeitgeist/logserver/logserver.h>
-#include <boost/smart_ptr/shared_array.hpp>
-#define USE_FBO
-
-// using namespace kerosin;
using namespace oxygen;
using namespace boost;
using namespace zeitgeist;
using namespace salt;
using namespace std;
-ImagePerceptor::ImagePerceptor() : oxygen::Perceptor(),
- mDataSize(0)
+ImagePerceptor::ImagePerceptor() : oxygen::Perceptor()
{
- mFramesRendered = 0;
}
ImagePerceptor::~ImagePerceptor()
{
}
-#define REG_GL_EXT_FUN(_ptr, _function) \
- static _ptr _function = (_ptr) mOpenGLServer->GetExtension(#_function); \
- if ( !_function ){ \
- GetLog()->Error()<<"(Image Perceptor) ERROR: can not get "#_function"\n"; \
- }
-
void ImagePerceptor::OnLink()
{
- mCamera = shared_dynamic_cast<Camera>( GetCore()->New("oxygen/Camera") );
- if ( 0 != mCamera.get() )
- {
- AddChildReference(mCamera);
- }
- else
- {
- GetLog()->Error()
- <<"(ImagePerceptor) ERROR: can not create camera\n";
- }
-
- RegisterCachedPath(mRenderServer, "/sys/server/render");
+ mRender = shared_dynamic_cast<ImageRender > (GetCore()->New("ImageRender"));
- if (mRenderServer.expired())
- {
- GetLog()->Error()
- << "(ImagePerceptor) ERROR: RenderServer not found\n";
- }
+ mCamera = shared_dynamic_cast<Camera > (GetCore()->New("oxygen/Camera"));
+ if (0 != mCamera.get())
+ {
+ AddChildReference(mCamera);
+ } else
+ {
+ GetLog()->Error()
+ << "(ImagePerceptor) ERROR: can not create camera\n";
+ }
- RegisterCachedPath(mOpenGLServer,"/sys/server/opengl");
-
- if (mOpenGLServer.expired())
- {
- GetLog()->Error()
- << "(ImagePerceptor) ERROR: OpenGLServer not found\n";
- }
-
- // create a framebuffer object
- REG_GL_EXT_FUN( PFNGLGENFRAMEBUFFERSEXTPROC, glGenFramebuffersEXT );
- REG_GL_EXT_FUN( PFNGLGENRENDERBUFFERSEXTPROC, glGenRenderbuffersEXT);
-
- glGenFramebuffersEXT(1, &mFBOId);
- glGenRenderbuffersEXT(1, &mRBOId);
- glGenRenderbuffersEXT(1, &mDepthBuffer);
-
+ mRender->SetCamera(mCamera);
+ AddChildReference(mRender);
}
-void ImagePerceptor::OnUnlink()
-{
- REG_GL_EXT_FUN( PFNGLDELETEFRAMEBUFFERSEXTPROC, glDeleteFramebuffersEXT );
- REG_GL_EXT_FUN( PFNGLDELETERENDERBUFFERSEXTPROC, glDeleteRenderbuffersEXT );
- glDeleteFramebuffersEXT(1, &mFBOId);
- glDeleteRenderbuffersEXT(1, &mRBOId);
-}
-
bool ImagePerceptor::Percept(boost::shared_ptr<PredicateList> predList)
{
- if ( !Render() )
- return false;
+ mRender->Render();
Predicate &predicate = predList->AddPredicate();
predicate.name = "IMG";
@@ -120,107 +63,33 @@
ParameterList &sizeElement = predicate.parameter.AddList();
sizeElement.AddValue(std::string("s"));
- sizeElement.AddValue(mCamera->GetViewportWidth());
- sizeElement.AddValue(mCamera->GetViewportHeight());
+ sizeElement.AddValue(mRender->getWidth());
+ sizeElement.AddValue(mRender->getHeight());
ParameterList &dataElement = predicate.parameter.AddList();
dataElement.AddValue(std::string("d"));
- string datacode = mB64Encoder.encode(mData.get(), mDataSize);
+ const char* data = mRender->getData();
+ string datacode = mB64Encoder.encode(data, mRender->getDataSize());
dataElement.AddValue(datacode);
return true;
}
-bool ImagePerceptor::Render()
-{
- if (
- (mOpenGLServer.expired()) ||
- (mRenderServer.expired())
- )
- {
- return false;
- }
-
- int w = mCamera->GetViewportWidth();
- int h = mCamera->GetViewportHeight();
-
-#ifdef USE_FBO
- REG_GL_EXT_FUN( PFNGLBINDFRAMEBUFFEREXTPROC, glBindFramebufferEXT );
- REG_GL_EXT_FUN( PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC, glFramebufferRenderbufferEXT );
- REG_GL_EXT_FUN( PFNGLRENDERBUFFERSTORAGEEXTPROC, glRenderbufferStorageEXT );
- REG_GL_EXT_FUN( PFNGLBINDRENDERBUFFEREXTPROC, glBindRenderbufferEXT);
- REG_GL_EXT_FUN( PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC, glCheckFramebufferStatusEXT );
-
-
- glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, mFBOId);
- glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, mRBOId);
- glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_RGB, w, h);
- glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_COLOR_ATTACHMENT0_EXT,
- GL_RENDERBUFFER_EXT, mRBOId);
-
- glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, mDepthBuffer);
- glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_DEPTH_COMPONENT, w, h);
- glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_DEPTH_ATTACHMENT_EXT, GL_RENDERBUFFER_EXT, mDepthBuffer);
-
-
- // check FBO status
- GLenum status = glCheckFramebufferStatusEXT(GL_FRAMEBUFFER_EXT);
- if(status != GL_FRAMEBUFFER_COMPLETE_EXT){
- GetLog()->Error()<<"fbo error!\n";
- }
-#endif
-
- // setup the camera
- boost::shared_ptr<Camera> oldCamera = mRenderServer->GetCamera();
- mRenderServer->SetCamera(mCamera);
- mRenderServer->Render();
-
-#ifdef USE_FBO
-#else
- glReadBuffer(GL_BACK);
-#endif
-
- glReadPixels(0, 0,
- w, h,
- GL_RGB,
- GL_UNSIGNED_BYTE,
- mData.get());
-
- ++mFramesRendered;
-#ifdef USE_FBO
- // unbind FBO
- glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, 0);
-#endif
- mRenderServer->SetCamera(oldCamera);
-
- return true;
-}
-
void ImagePerceptor::SetViewport(unsigned int x, unsigned int y, unsigned int w, unsigned int h)
{
- if ( 0!= mCamera ){
- mCamera->SetViewport(x,y,w,h);
- mDataSize = 3*w*h;
- mData = boost::shared_array<char>(new char[mDataSize]);
- }
+ mCamera->SetViewport(x, y, w, h);
}
void ImagePerceptor::SetFOV(float fov)
{
- if ( 0!= mCamera ){
- mCamera->SetFOV(fov);
- }
+ mCamera->SetFOV(fov);
}
void ImagePerceptor::SetZNear(float zNear)
{
- if ( 0!= mCamera ){
- mCamera->SetZNear(zNear);
- }
+ mCamera->SetZNear(zNear);
}
void ImagePerceptor::SetZFar(float zFar)
{
- if ( 0!= mCamera ){
- mCamera->SetZFar(zFar);
- }
+ mCamera->SetZFar(zFar);
}
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.h 2010-12-16 11:27:58 UTC (rev 232)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.h 2010-12-17 00:21:21 UTC (rev 233)
@@ -23,11 +23,8 @@
#include <oxygen/agentaspect/perceptor.h>
#include <oxygen/sceneserver/camera.h>
-#include <oxygen/sceneserver/sceneserver.h>
-#include <kerosin/renderserver/baserenderserver.h>
-#include <kerosin/openglserver/openglserver.h>
-#include <boost/shared_array.hpp>
#include <libb64/encode.h>
+#include "imagerender.h"
class ImagePerceptor : public oxygen::Perceptor
{
@@ -37,11 +34,8 @@
//! \return true, if valid data is available and false otherwise.
bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);
-
- bool Render();
virtual void OnLink();
- virtual void OnUnlink();
void SetViewport(unsigned int x, unsigned int y, unsigned int w, unsigned int h);
@@ -54,22 +48,8 @@
private:
boost::shared_ptr<oxygen::Camera> mCamera;
- /** cached reference to the RenderServer */
- CachedPath<kerosin::BaseRenderServer> mRenderServer;
+ boost::shared_ptr<ImageRender> mRender;
- /** cached reference to the OpenGLServer */
- CachedPath<kerosin::OpenGLServer> mOpenGLServer;
-
- /** total frames rendered */
- int mFramesRendered;
-
- boost::shared_array<char> mData;
- unsigned int mDataSize;
-
- unsigned int mFBOId;
- unsigned int mRBOId;
- unsigned int mDepthBuffer;
-
base64::Encoder mB64Encoder;
};
Copied: trunk/spark/plugin/imageperceptor/imagerender.cpp (from rev 232, trunk/spark/plugin/imageperceptor/imageperceptor.cpp)
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.cpp (rev 0)
+++ trunk/spark/plugin/imageperceptor/imagerender.cpp 2010-12-17 00:21:21 UTC (rev 233)
@@ -0,0 +1,169 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef WIN32
+#if __APPLE__
+#include <OpenGL/gl.h>
+#else
+#include <GL/gl.h>
+#endif
+#else
+#include <windows.h>
+#include <GL/gl.h>
+#include <GL/glext.h>
+#endif
+
+#include "imagerender.h"
+#include <zeitgeist/logserver/logserver.h>
+
+#define USE_FBO
+
+// using namespace kerosin;
+using namespace oxygen;
+using namespace boost;
+using namespace zeitgeist;
+using namespace salt;
+using namespace std;
+
+ImageRender::ImageRender(): // kerosin::CustomRender(),
+ mDataSize(0), mWidth(0), mHeight(0)
+{
+}
+
+ImageRender::~ImageRender()
+{
+}
+#define REG_GL_EXT_FUN(_ptr, _function) \
+ static _ptr _function = (_ptr) mOpenGLServer->GetExtension(#_function);\
+ if ( !_function ){ \
+ GetLog()->Error()<<"(Image Perceptor) ERROR: can not get "#_function"\n"; \
+ }
+
+void ImageRender::SetCamera(boost::shared_ptr<oxygen::Camera> camera)
+{
+ mCamera = camera;
+}
+
+void ImageRender::OnLink()
+{
+ RegisterCachedPath(mRenderServer, "/sys/server/render");
+
+ if (mRenderServer.expired())
+ {
+ GetLog()->Error()
+ << "(ImagePerceptor) ERROR: RenderServer not found\n";
+ }
+
+ RegisterCachedPath(mOpenGLServer,"/sys/server/opengl");
+
+ if (mOpenGLServer.expired())
+ {
+ GetLog()->Error()
+ << "(ImagePerceptor) ERROR: OpenGLServer not found\n";
+ }
+
+ // create a framebuffer object
+ REG_GL_EXT_FUN( PFNGLGENFRAMEBUFFERSEXTPROC, glGenFramebuffersEXT );
+ REG_GL_EXT_FUN( PFNGLGENRENDERBUFFERSEXTPROC, glGenRenderbuffersEXT);
+
+ glGenFramebuffersEXT(1, &mFBOId);
+ glGenRenderbuffersEXT(1, &mRBOId);
+ glGenRenderbuffersEXT(1, &mDepthBuffer);
+}
+
+void ImageRender::OnUnlink()
+{
+ REG_GL_EXT_FUN( PFNGLDELETEFRAMEBUFFERSEXTPROC, glDeleteFramebuffersEXT );
+ REG_GL_EXT_FUN( PFNGLDELETERENDERBUFFERSEXTPROC, glDeleteRenderbuffersEXT );
+ glDeleteFramebuffersEXT(1, &mFBOId);
+ glDeleteRenderbuffersEXT(1, &mRBOId);
+}
+
+void ImageRender::Render()
+{
+ if (
+ (mOpenGLServer.expired()) ||
+ (mRenderServer.expired())
+ )
+ {
+ return;
+ }
+
+ int w = mCamera->GetViewportWidth();
+ int h = mCamera->GetViewportHeight();
+
+#ifdef USE_FBO
+ REG_GL_EXT_FUN( PFNGLBINDFRAMEBUFFEREXTPROC, glBindFramebufferEXT );
+ REG_GL_EXT_FUN( PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC, glFramebufferRenderbufferEXT );
+ REG_GL_EXT_FUN( PFNGLRENDERBUFFERSTORAGEEXTPROC, glRenderbufferStorageEXT );
+ REG_GL_EXT_FUN( PFNGLBINDRENDERBUFFEREXTPROC, glBindRenderbufferEXT);
+ REG_GL_EXT_FUN( PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC, glCheckFramebufferStatusEXT );
+
+
+ glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, mFBOId);
+ glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, mRBOId);
+ glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_RGB, w, h);
+ glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_COLOR_ATTACHMENT0_EXT,
+ GL_RENDERBUFFER_EXT, mRBOId);
+
+ glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, mDepthBuffer);
+ glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_DEPTH_COMPONENT, w, h);
+ glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_DEPTH_ATTACHMENT_EXT, GL_RENDERBUFFER_EXT, mDepthBuffer);
+
+
+ // check FBO status
+ GLenum status = glCheckFramebufferStatusEXT(GL_FRAMEBUFFER_EXT);
+ if(status != GL_FRAMEBUFFER_COMPLETE_EXT){
+// GetLog()->Error()<<"fbo error!\n";
+ }
+#endif
+
+ // setup the camera
+ boost::shared_ptr<Camera> oldCamera = mRenderServer->GetCamera();
+ mRenderServer->SetCamera(mCamera);
+ mRenderServer->Render();
+
+#ifdef USE_FBO
+#else
+ glReadBuffer(GL_BACK);
+#endif
+
+ int size = w*h*3;
+ if ( size != mDataSize )
+ {
+ mData = boost::shared_array<char>(new char[size]);
+ mDataSize = size;
+ }
+
+ glReadPixels(0, 0,
+ w, h,
+ GL_RGB,
+ GL_UNSIGNED_BYTE,
+ mData.get());
+ mWidth = w;
+ mHeight = h;
+
+#ifdef USE_FBO
+ // unbind FBO
+ glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, 0);
+#endif
+// mRenderServer->SetCamera(oldCamera);
+
+}
Added: trunk/spark/plugin/imageperceptor/imagerender.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender.h (rev 0)
+++ trunk/spark/plugin/imageperceptor/imagerender.h 2010-12-17 00:21:21 UTC (rev 233)
@@ -0,0 +1,76 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef IMAGERENDER_H
+#define IMAGERENDER_H
+
+#include <oxygen/sceneserver/camera.h>
+#include <oxygen/sceneserver/sceneserver.h>
+#include <kerosin/renderserver/baserenderserver.h>
+#include <kerosin/renderserver/customrender.h>
+#include <kerosin/openglserver/openglserver.h>
+#include <boost/shared_array.hpp>
+
+class ImageRender: public kerosin::CustomRender
+{
+public:
+ ImageRender();
+
+ ~ImageRender();
+
+ void Render();
+
+ void SetCamera(boost::shared_ptr<oxygen::Camera> camera);
+
+ void OnLink();
+
+ void OnUnlink();
+
+ const char* getData() const { return mData.get(); }
+
+ int getDataSize() const { return mDataSize; }
+
+ int getWidth() const { return mWidth; }
+
+ int getHeight() const { return mHeight; }
+
+private:
+ boost::shared_ptr<oxygen::Camera> mCamera;
+
+ /** cached reference to the RenderServer */
+ zeitgeist::Leaf::CachedPath<kerosin::BaseRenderServer> mRenderServer;
+
+ /** cached reference to the OpenGLServer */
+ zeitgeist::Leaf::CachedPath<kerosin::OpenGLServer> mOpenGLServer;
+
+ boost::shared_array<char> mData;
+ int mDataSize;
+ int mWidth;
+ int mHeight;
+
+ unsigned int mFBOId;
+ unsigned int mRBOId;
+ unsigned int mDepthBuffer;
+};
+
+DECLARE_CLASS(ImageRender);
+
+#endif /* IMAGERENDER_H */
+
Copied: trunk/spark/plugin/imageperceptor/imagerender_c.cpp (from rev 232, trunk/spark/plugin/imageperceptor/export.cpp)
===================================================================
--- trunk/spark/plugin/imageperceptor/imagerender_c.cpp (rev 0)
+++ trunk/spark/plugin/imageperceptor/imagerender_c.cpp 2010-12-17 00:21:21 UTC (rev 233)
@@ -0,0 +1,26 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "imagerender.h"
+
+void CLASS(ImageRender)::DefineClass()
+{
+ DEFINE_BASECLASS(kerosin/CustomRender);
+}
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|
|
From: <yx...@us...> - 2010-12-16 11:28:06
|
Revision: 232
http://simspark.svn.sourceforge.net/simspark/?rev=232&view=rev
Author: yxu
Date: 2010-12-16 11:27:58 +0000 (Thu, 16 Dec 2010)
Log Message:
-----------
ChangeLog
Modified Paths:
--------------
trunk/spark/ChangeLog
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2010-12-16 11:27:45 UTC (rev 231)
+++ trunk/spark/ChangeLog 2010-12-16 11:27:58 UTC (rev 232)
@@ -1,4 +1,13 @@
2010-12-14 Yuan Xu <xu...@in...>
+ * rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
+ * rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
+ * spark/lib/oxygen/proxyserver/agentproxy.cpp
+ - compile by VC10
+
+ * rsgedit/CMakeLists.txt
+ - use UseWxWidgets.cmake
+
+2010-12-14 Yuan Xu <xu...@in...>
* spark/plugin/imageperceptor
* spark/spark.rb
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|
|
From: <yx...@us...> - 2010-12-16 11:27:52
|
Revision: 231
http://simspark.svn.sourceforge.net/simspark/?rev=231&view=rev
Author: yxu
Date: 2010-12-16 11:27:45 +0000 (Thu, 16 Dec 2010)
Log Message:
-----------
compile by VC10
Modified Paths:
--------------
trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp
Modified: trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp 2010-12-16 11:27:19 UTC (rev 230)
+++ trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp 2010-12-16 11:27:45 UTC (rev 231)
@@ -26,7 +26,6 @@
#include <soccerbase/soccerbase.h>
#include <salt/gmath.h>
#include <list>
-#include <X11/X.h>
#include <math.h>
#include <salt/linesegment2.h>
#include <limits>
Modified: trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-12-16 11:27:19 UTC (rev 230)
+++ trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-12-16 11:27:45 UTC (rev 231)
@@ -508,7 +508,7 @@
int unum;
bool specified = true;
- shared_ptr<SoccerRuleAspect> soccerRuleAspect;
+ boost::shared_ptr<SoccerRuleAspect> soccerRuleAspect;
if (!SoccerBase::GetSoccerRuleAspect(*this, soccerRuleAspect))
{
GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n";
@@ -582,7 +582,7 @@
int unum;
bool specified = true;
- shared_ptr<SoccerRuleAspect> soccerRuleAspect;
+ boost::shared_ptr<SoccerRuleAspect> soccerRuleAspect;
if (!SoccerBase::GetSoccerRuleAspect(*this, soccerRuleAspect))
{
GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n";
@@ -643,7 +643,7 @@
int unum;
bool specified = true;
- shared_ptr<SoccerRuleAspect> soccerRuleAspect;
+ boost::shared_ptr<SoccerRuleAspect> soccerRuleAspect;
if (!SoccerBase::GetSoccerRuleAspect(*this, soccerRuleAspect))
{
GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n";
Modified: trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp
===================================================================
--- trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp 2010-12-16 11:27:19 UTC (rev 230)
+++ trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp 2010-12-16 11:27:45 UTC (rev 231)
@@ -23,7 +23,7 @@
#include <rcssnet/exception.hpp>
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/simulationserver/netcontrol.h>
-
+#include <errno.h>
#ifdef HAVE_SYS_SOCKET_H
#include <sys/socket.h>
#endif
@@ -32,7 +32,6 @@
using namespace zeitgeist;
using namespace std;
using namespace rcss::net;
-using boost::shared_ptr;
AgentProxy::AgentProxy(int cycleMillisecs) : Node(),
mCycleMillisecs(cycleMillisecs), mFinished(false),
@@ -69,7 +68,7 @@
mNetMessage = FindChildSupportingClass<NetMessage>();
if (mNetMessage.get() == 0)
{
- mNetMessage = shared_ptr<NetMessage>(new NetMessage());
+ mNetMessage = boost::shared_ptr<NetMessage>(new NetMessage());
}
mAgentConnectionThread = boost::thread(
@@ -107,7 +106,7 @@
string servermsg, agentmsg;
boost::system_time cycleFinishTime = boost::get_system_time()
+ boost::posix_time::milliseconds(mCycleMillisecs);
- shared_ptr<NetBuffer> netbuf(new NetBuffer);
+ boost::shared_ptr<NetBuffer> netbuf(new NetBuffer);
TRawBuffer recvbuf;
mNetMessage->PrepareToSend(syncMsg);
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|
|
From: <yx...@us...> - 2010-12-16 11:27:25
|
Revision: 230
http://simspark.svn.sourceforge.net/simspark/?rev=230&view=rev
Author: yxu
Date: 2010-12-16 11:27:19 +0000 (Thu, 16 Dec 2010)
Log Message:
-----------
use UseWxWidgets.cmake
Modified Paths:
--------------
trunk/rsgedit/CMakeLists.txt
Modified: trunk/rsgedit/CMakeLists.txt
===================================================================
--- trunk/rsgedit/CMakeLists.txt 2010-12-14 17:08:25 UTC (rev 229)
+++ trunk/rsgedit/CMakeLists.txt 2010-12-16 11:27:19 UTC (rev 230)
@@ -9,14 +9,16 @@
find_package(Boost REQUIRED thread COMPONENTS date_time)
find_package(ODE REQUIRED)
find_package(OpenGL REQUIRED)
-find_package(wxWidgets REQUIRED gl base core adv)
+set(wxWidgets_USE_LIBS gl adv)
+find_package(wxWidgets REQUIRED)
+include( ${wxWidgets_USE_FILE} )
########## add extra flags ##########
if(NOT CMAKE_BUILD_TYPE)
set (CMAKE_BUILD_TYPE Release)
endif(NOT CMAKE_BUILD_TYPE)
-add_definitions(-DHAVE_CONFIG_H ${wxWidgets_DEFINITIONS})
+add_definitions(-DHAVE_CONFIG_H )
include_directories(${CMAKE_BINARY_DIR})
if (UNIX)
set(CMAKE_CXX_FLAGS "-Wno-deprecated" CACHE
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|
|
From: <yx...@us...> - 2010-12-14 17:08:31
|
Revision: 229
http://simspark.svn.sourceforge.net/simspark/?rev=229&view=rev
Author: yxu
Date: 2010-12-14 17:08:25 +0000 (Tue, 14 Dec 2010)
Log Message:
-----------
ChangeLog
Modified Paths:
--------------
trunk/spark/ChangeLog
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2010-12-14 17:08:12 UTC (rev 228)
+++ trunk/spark/ChangeLog 2010-12-14 17:08:25 UTC (rev 229)
@@ -1,3 +1,16 @@
+2010-12-14 Yuan Xu <xu...@in...>
+
+ * spark/plugin/imageperceptor
+ * spark/spark.rb
+ - use base64 encoding image
+
+ * utility/libb64/
+ - add libb64 for encoding/decoding base64
+
+ * lib/zeitgeist/scriptserver/gcvalue.h
+ * FindRuby.cmake
+ - support ruby 1.9.1
+
2010-09-28 Sander van Dijk <sgv...@gm...>
* plugin/inputsdl/inputsystemsdl.cpp
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|
|
From: <yx...@us...> - 2010-12-14 17:08:18
|
Revision: 228
http://simspark.svn.sourceforge.net/simspark/?rev=228&view=rev
Author: yxu
Date: 2010-12-14 17:08:12 +0000 (Tue, 14 Dec 2010)
Log Message:
-----------
use base64 in image perceptor
Modified Paths:
--------------
trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
trunk/spark/plugin/imageperceptor/CMakeLists.txt
trunk/spark/plugin/imageperceptor/imageperceptor.cpp
trunk/spark/plugin/imageperceptor/imageperceptor.h
trunk/spark/spark/spark.rb
trunk/spark/utility/libb64/cencode.h
trunk/spark/utility/libb64/decode.h
trunk/spark/utility/libb64/encode.h
Modified: trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2010-12-14 17:07:37 UTC (rev 227)
+++ trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2010-12-14 17:08:12 UTC (rev 228)
@@ -85,8 +85,6 @@
0 0 -0.005
1 0 0
$he2_min $he2_max)
-
- ;(nd Camera)
(nd RestrictedVisionPerceptor
(setViewCones 120 120)
@@ -96,6 +94,18 @@
(setInterval 3)
)
+ ;; (nd Transform
+ ;; (setLocalPos 0 $Head_Radius 0)
+ ;; (setLocalRotation 0 0 0)
+ ;; (nd ImagePerceptor
+ ;; (setInterval 3)
+ ;; (setViewport 0 0 320 240)
+ ;; (setFOV 58)
+ ;; (setZNear 0.003)
+ ;; (setZFar 50)
+ ;; )
+ ;; )
+
(nd ObjectState
(setID head)
)
Modified: trunk/spark/plugin/imageperceptor/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/imageperceptor/CMakeLists.txt 2010-12-14 17:07:37 UTC (rev 227)
+++ trunk/spark/plugin/imageperceptor/CMakeLists.txt 2010-12-14 17:08:12 UTC (rev 228)
@@ -10,7 +10,7 @@
add_library(imageperceptor MODULE ${imageperceptor_LIB_SRCS})
-target_link_libraries(imageperceptor ${spark_libs} ${Boost_LIBRARIES})
+target_link_libraries(imageperceptor ${spark_libs} ${Boost_LIBRARIES} b64)
if (NOT APPLE)
set_target_properties(imageperceptor PROPERTIES VERSION 0.0.0 SOVERSION 0)
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.cpp
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-14 17:07:37 UTC (rev 227)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.cpp 2010-12-14 17:08:12 UTC (rev 228)
@@ -35,6 +35,7 @@
#include "imageperceptor.h"
#include <zeitgeist/logserver/logserver.h>
+#include <boost/smart_ptr/shared_array.hpp>
#define USE_FBO
@@ -45,7 +46,8 @@
using namespace salt;
using namespace std;
-ImagePerceptor::ImagePerceptor() : oxygen::Perceptor()
+ImagePerceptor::ImagePerceptor() : oxygen::Perceptor(),
+ mDataSize(0)
{
mFramesRendered = 0;
}
@@ -113,16 +115,19 @@
return false;
Predicate &predicate = predList->AddPredicate();
- predicate.name = "Image";
+ predicate.name = "IMG";
predicate.parameter.Clear();
- // ParameterList &sizeElement = predicate.parameter.AddList();
- // sizeElement.AddValue(std::string("s"));
- // sizeElement.AddValue(mCamera->GetViewportWidth());
- // sizeElement.AddValue(mCamera->GetViewportHeight());
+ ParameterList &sizeElement = predicate.parameter.AddList();
+ sizeElement.AddValue(std::string("s"));
+ sizeElement.AddValue(mCamera->GetViewportWidth());
+ sizeElement.AddValue(mCamera->GetViewportHeight());
- predicate.parameter.AddValue(mData);
- return true;
+ ParameterList &dataElement = predicate.parameter.AddList();
+ dataElement.AddValue(std::string("d"));
+ string datacode = mB64Encoder.encode(mData.get(), mDataSize);
+ dataElement.AddValue(datacode);
+ return true;
}
bool ImagePerceptor::Render()
@@ -173,14 +178,12 @@
#else
glReadBuffer(GL_BACK);
#endif
- int size = 3*w*h;
- if ( mData.size() != size )
- mData.resize(size);
+
glReadPixels(0, 0,
w, h,
GL_RGB,
GL_UNSIGNED_BYTE,
- const_cast<char*>(mData.data()));
+ mData.get());
++mFramesRendered;
#ifdef USE_FBO
@@ -196,6 +199,8 @@
{
if ( 0!= mCamera ){
mCamera->SetViewport(x,y,w,h);
+ mDataSize = 3*w*h;
+ mData = boost::shared_array<char>(new char[mDataSize]);
}
}
Modified: trunk/spark/plugin/imageperceptor/imageperceptor.h
===================================================================
--- trunk/spark/plugin/imageperceptor/imageperceptor.h 2010-12-14 17:07:37 UTC (rev 227)
+++ trunk/spark/plugin/imageperceptor/imageperceptor.h 2010-12-14 17:08:12 UTC (rev 228)
@@ -26,6 +26,8 @@
#include <oxygen/sceneserver/sceneserver.h>
#include <kerosin/renderserver/baserenderserver.h>
#include <kerosin/openglserver/openglserver.h>
+#include <boost/shared_array.hpp>
+#include <libb64/encode.h>
class ImagePerceptor : public oxygen::Perceptor
{
@@ -61,11 +63,14 @@
/** total frames rendered */
int mFramesRendered;
- std::string mData;
+ boost::shared_array<char> mData;
+ unsigned int mDataSize;
unsigned int mFBOId;
unsigned int mRBOId;
unsigned int mDepthBuffer;
+
+ base64::Encoder mB64Encoder;
};
DECLARE_CLASS(ImagePerceptor);
Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb 2010-12-14 17:07:37 UTC (rev 227)
+++ trunk/spark/spark/spark.rb 2010-12-14 17:08:12 UTC (rev 228)
@@ -283,7 +283,7 @@
simulationServer = sparkGetSimulationServer()
if (simulationServer != nil)
- simulationServer.setMultiThreads(true);
+ simulationServer.setMultiThreads(false);
simulationServer.initControlNode('oxygen/AgentControl','AgentControl')
# set auto speed adjust mode.
@@ -635,3 +635,6 @@
#
importBundle "agentsynceffector"
+
+#
+importBundle "imageperceptor"
Modified: trunk/spark/utility/libb64/cencode.h
===================================================================
--- trunk/spark/utility/libb64/cencode.h 2010-12-14 17:07:37 UTC (rev 227)
+++ trunk/spark/utility/libb64/cencode.h 2010-12-14 17:08:12 UTC (rev 228)
@@ -8,8 +8,6 @@
#ifndef BASE64_CENCODE_H
#define BASE64_CENCODE_H
-#define BUFFERSIZE 64
-
typedef enum
{
step_A, step_B, step_C
Modified: trunk/spark/utility/libb64/decode.h
===================================================================
--- trunk/spark/utility/libb64/decode.h 2010-12-14 17:07:37 UTC (rev 227)
+++ trunk/spark/utility/libb64/decode.h 2010-12-14 17:08:12 UTC (rev 228)
@@ -59,7 +59,7 @@
codelength = len;
}
- plainlength = decode(code, codelength, out+totalLen);
+ plainlength = base64_decode_block(code, codelength, out+totalLen, &_state);
code += codelength;
len -= codelength;
@@ -71,17 +71,18 @@
return totalLen;
}
+ int decode(const char* code_in, const int length_in, char* plaintext_out)
+ {
+ base64_init_decodestate(&_state);
+ return base64_decode_block(code_in, length_in, plaintext_out, &_state);
+ }
+
protected:
int decode(char value_in)
{
return base64_decode_value(value_in);
}
- int decode(const char* code_in, const int length_in, char* plaintext_out)
- {
- return base64_decode_block(code_in, length_in, plaintext_out, &_state);
- }
-
private:
base64_decodestate _state;
int _buffersize;
Modified: trunk/spark/utility/libb64/encode.h
===================================================================
--- trunk/spark/utility/libb64/encode.h 2010-12-14 17:07:37 UTC (rev 227)
+++ trunk/spark/utility/libb64/encode.h 2010-12-14 17:08:12 UTC (rev 228)
@@ -22,7 +22,7 @@
{
public:
- Encoder(int buffersize_in = BUFFERSIZE)
+ Encoder(int buffersize_in = 128)
: _buffersize(buffersize_in)
{
_code = new char[2 * _buffersize];
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|
|
From: <yx...@us...> - 2010-12-14 17:07:46
|
Revision: 227
http://simspark.svn.sourceforge.net/simspark/?rev=227&view=rev
Author: yxu
Date: 2010-12-14 17:07:37 +0000 (Tue, 14 Dec 2010)
Log Message:
-----------
add libb64
Modified Paths:
--------------
trunk/spark/utility/CMakeLists.txt
Added Paths:
-----------
trunk/spark/utility/libb64/
trunk/spark/utility/libb64/CMakeLists.txt
trunk/spark/utility/libb64/README
trunk/spark/utility/libb64/base64.cc
trunk/spark/utility/libb64/cdecode.c
trunk/spark/utility/libb64/cdecode.h
trunk/spark/utility/libb64/cencode.c
trunk/spark/utility/libb64/cencode.h
trunk/spark/utility/libb64/decode.h
trunk/spark/utility/libb64/encode.h
Modified: trunk/spark/utility/CMakeLists.txt
===================================================================
--- trunk/spark/utility/CMakeLists.txt 2010-12-14 17:07:14 UTC (rev 226)
+++ trunk/spark/utility/CMakeLists.txt 2010-12-14 17:07:37 UTC (rev 227)
@@ -4,3 +4,4 @@
add_subdirectory(rcssnet)
add_subdirectory(sfsexp)
add_subdirectory(tinyxml)
+add_subdirectory(libb64)
Added: trunk/spark/utility/libb64/CMakeLists.txt
===================================================================
--- trunk/spark/utility/libb64/CMakeLists.txt (rev 0)
+++ trunk/spark/utility/libb64/CMakeLists.txt 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,19 @@
+
+set(b64_SRCS
+ cdecode.c
+ cdecode.h
+ cencode.c
+ cencode.h
+ )
+
+set(base64_SRCS
+ base64.cc
+ )
+
+add_library(b64 STATIC ${b64_SRCS})
+if(UNIX)
+ set_target_properties( b64 PROPERTIES COMPILE_FLAGS -fPIC)
+endif(UNIX)
+
+add_executable(base64 ${base64_SRCS})
+target_link_libraries(base64 b64)
Added: trunk/spark/utility/libb64/README
===================================================================
--- trunk/spark/utility/libb64/README (rev 0)
+++ trunk/spark/utility/libb64/README 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,33 @@
+libb64: Base64 Encoding/Decoding Routines
+Modified for SimSpark (http://simspark.sourceforge.net)
+======================================
+
+Overview:
+--------
+libb64 is a library of ANSI C routines for fast encoding/decoding data into and
+from a base64-encoded format.
+Please visit http://libb64.sourceforge.net/ for more information.
+
+Why modify?
+----------------
+We use base64 to en/decode image data inside the program,
+so we use the library without stream.
+
+License:
+-------
+This work is released under into the Public Domain,
+and you can take it and do whatever you want with it.
+
+An example of this "license" is the Creative Commons Public Domain License, a
+copy of which can be found in the LICENSE file, and also online at
+http://creativecommons.org/licenses/publicdomain/
+
+Authors:
+--------
+This modified version: Xu Yuan xuy...@gm... http://airobot.org
+Original Version: Chris Venter chr...@gm... http://rocketpod.blogspot.com
+
+References:
+----------
+* Wikipedia article:
+ http://en.wikipedia.org/wiki/Base64
Added: trunk/spark/utility/libb64/base64.cc
===================================================================
--- trunk/spark/utility/libb64/base64.cc (rev 0)
+++ trunk/spark/utility/libb64/base64.cc 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,94 @@
+/*
+base64.cc - c++ source to a base64 reference encoder and decoder
+
+This is part of the libb64 project, and has been placed in the public domain.
+For details, see http://sourceforge.net/projects/libb64
+*/
+
+#include "encode.h"
+#include "decode.h"
+
+#include <iostream>
+#include <fstream>
+#include <string>
+
+#include <stdlib.h>
+
+// Function which prints the usage of this executable
+void usage()
+{
+ std::cerr<< \
+ "base64: Encodes and Decodes files using base64\n" \
+ "Usage: base64 [-e|-d] [input] [output]\n" \
+ " Where [-e] will encode the input file into the output file,\n" \
+ " [-d] will decode the input file into the output file, and\n" \
+ " [input] and [output] are the input and output files, respectively.\n";
+}
+// Function which prints the usage of this executable, plus a short message
+void usage(const std::string& message)
+{
+ usage();
+ std::cerr<<"Incorrect invocation of base64:\n";
+ std::cerr<<message<<std::endl;
+}
+
+int main(int argc, char** argv)
+{
+ // Quick check for valid arguments
+ if (argc == 1)
+ {
+ usage();
+ exit(-1);
+ }
+ if (argc != 4)
+ {
+ usage("Wrong number of arguments!");
+ exit(-1);
+ }
+
+ // So far so good; try to open the input file
+ std::string input = argv[2];
+ // Note that we have to open the input in binary mode.
+ // This is due to some operating systems not using binary mode by default.
+ // Since we will most likely be dealing with binary files when encoding, we
+ // have to be able to deal with zeros (and other invalid chars) in the input stream.
+ std::ifstream instream(input.c_str(), std::ios_base::in | std::ios_base::binary);
+ if (!instream.is_open())
+ {
+ usage("Could not open input file!");
+ exit(-1);
+ }
+
+ // Now try to open the output file
+ std::string output = argv[3];
+ // Again, note that we have to open the ouput in binary mode.
+ // Similiarly, we will most likely need to deal with zeros in the output stream when we
+ // are decoding, and the output stream has to be able to use these invalid text chars.
+ std::ofstream outstream(output.c_str(), std::ios_base::out | std::ios_base::binary);
+ if (!outstream.is_open())
+ {
+ usage("Could not open output file!");
+ exit(-1);
+ }
+
+ // determine whether we need to encode or decode:
+ std::string choice = argv[1];
+ if (choice == "-d")
+ {
+ base64::Decoder D;
+ D.decode(instream, outstream);
+ }
+ else if (choice == "-e")
+ {
+ base64::Encoder E;
+ E.encode(instream, outstream);
+ }
+ else
+ {
+ std::cout<<"["<<choice<<"]"<<std::endl;
+ usage("Please specify -d or -e as first argument!");
+ }
+
+ return 0;
+}
+
Added: trunk/spark/utility/libb64/cdecode.c
===================================================================
--- trunk/spark/utility/libb64/cdecode.c (rev 0)
+++ trunk/spark/utility/libb64/cdecode.c 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,88 @@
+/*
+cdecoder.c - c source to a base64 decoding algorithm implementation
+
+This is part of the libb64 project, and has been placed in the public domain.
+For details, see http://sourceforge.net/projects/libb64
+*/
+
+#include "cdecode.h"
+
+int base64_decode_value(char value_in)
+{
+ static const char decoding[] = {62,-1,-1,-1,63,52,53,54,55,56,57,58,59,60,61,-1,-1,-1,-2,-1,-1,-1,0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,-1,-1,-1,-1,-1,-1,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51};
+ static const char decoding_size = sizeof(decoding);
+ value_in -= 43;
+ if (value_in < 0 || value_in > decoding_size) return -1;
+ return decoding[(int)value_in];
+}
+
+void base64_init_decodestate(base64_decodestate* state_in)
+{
+ state_in->step = step_a;
+ state_in->plainchar = 0;
+}
+
+int base64_decode_block(const char* code_in, const int length_in, char* plaintext_out, base64_decodestate* state_in)
+{
+ const char* codechar = code_in;
+ char* plainchar = plaintext_out;
+ char fragment;
+
+ *plainchar = state_in->plainchar;
+
+ switch (state_in->step)
+ {
+ while (1)
+ {
+ case step_a:
+ do {
+ if (codechar == code_in+length_in)
+ {
+ state_in->step = step_a;
+ state_in->plainchar = *plainchar;
+ return plainchar - plaintext_out;
+ }
+ fragment = (char)base64_decode_value(*codechar++);
+ } while (fragment < 0);
+ *plainchar = (fragment & 0x03f) << 2;
+ case step_b:
+ do {
+ if (codechar == code_in+length_in)
+ {
+ state_in->step = step_b;
+ state_in->plainchar = *plainchar;
+ return plainchar - plaintext_out;
+ }
+ fragment = (char)base64_decode_value(*codechar++);
+ } while (fragment < 0);
+ *plainchar++ |= (fragment & 0x030) >> 4;
+ *plainchar = (fragment & 0x00f) << 4;
+ case step_c:
+ do {
+ if (codechar == code_in+length_in)
+ {
+ state_in->step = step_c;
+ state_in->plainchar = *plainchar;
+ return plainchar - plaintext_out;
+ }
+ fragment = (char)base64_decode_value(*codechar++);
+ } while (fragment < 0);
+ *plainchar++ |= (fragment & 0x03c) >> 2;
+ *plainchar = (fragment & 0x003) << 6;
+ case step_d:
+ do {
+ if (codechar == code_in+length_in)
+ {
+ state_in->step = step_d;
+ state_in->plainchar = *plainchar;
+ return plainchar - plaintext_out;
+ }
+ fragment = (char)base64_decode_value(*codechar++);
+ } while (fragment < 0);
+ *plainchar++ |= (fragment & 0x03f);
+ }
+ }
+ /* control should not reach here */
+ return plainchar - plaintext_out;
+}
+
Added: trunk/spark/utility/libb64/cdecode.h
===================================================================
--- trunk/spark/utility/libb64/cdecode.h (rev 0)
+++ trunk/spark/utility/libb64/cdecode.h 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,28 @@
+/*
+cdecode.h - c header for a base64 decoding algorithm
+
+This is part of the libb64 project, and has been placed in the public domain.
+For details, see http://sourceforge.net/projects/libb64
+*/
+
+#ifndef BASE64_CDECODE_H
+#define BASE64_CDECODE_H
+
+typedef enum
+{
+ step_a, step_b, step_c, step_d
+} base64_decodestep;
+
+typedef struct
+{
+ base64_decodestep step;
+ char plainchar;
+} base64_decodestate;
+
+void base64_init_decodestate(base64_decodestate* state_in);
+
+int base64_decode_value(char value_in);
+
+int base64_decode_block(const char* code_in, const int length_in, char* plaintext_out, base64_decodestate* state_in);
+
+#endif /* BASE64_CDECODE_H */
Added: trunk/spark/utility/libb64/cencode.c
===================================================================
--- trunk/spark/utility/libb64/cencode.c (rev 0)
+++ trunk/spark/utility/libb64/cencode.c 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,103 @@
+/*
+cencoder.c - c source to a base64 encoding algorithm implementation
+
+This is part of the libb64 project, and has been placed in the public domain.
+For details, see http://sourceforge.net/projects/libb64
+
+Modified for SimSpark (http://simspark.sourceforge.net)
+*/
+
+#include "cencode.h"
+
+void base64_init_encodestate(base64_encodestate* state_in)
+{
+ state_in->step = step_A;
+ state_in->result = 0;
+ state_in->stepcount = 0;
+}
+
+char base64_encode_value(char value_in)
+{
+ static const char* encoding = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/";
+ if (value_in > 63) return '=';
+ return encoding[(int)value_in];
+}
+
+int base64_encode_block(const char* plaintext_in, int length_in, char* code_out, base64_encodestate* state_in)
+{
+ const char* plainchar = plaintext_in;
+ const char* const plaintextend = plaintext_in + length_in;
+ char* codechar = code_out;
+ char result;
+ char fragment;
+
+ result = state_in->result;
+
+ switch (state_in->step)
+ {
+ while (1)
+ {
+ case step_A:
+ if (plainchar == plaintextend)
+ {
+ state_in->result = result;
+ state_in->step = step_A;
+ return codechar - code_out;
+ }
+ fragment = *plainchar++;
+ result = (fragment & 0x0fc) >> 2;
+ *codechar++ = base64_encode_value(result);
+ result = (fragment & 0x003) << 4;
+ case step_B:
+ if (plainchar == plaintextend)
+ {
+ state_in->result = result;
+ state_in->step = step_B;
+ return codechar - code_out;
+ }
+ fragment = *plainchar++;
+ result |= (fragment & 0x0f0) >> 4;
+ *codechar++ = base64_encode_value(result);
+ result = (fragment & 0x00f) << 2;
+ case step_C:
+ if (plainchar == plaintextend)
+ {
+ state_in->result = result;
+ state_in->step = step_C;
+ return codechar - code_out;
+ }
+ fragment = *plainchar++;
+ result |= (fragment & 0x0c0) >> 6;
+ *codechar++ = base64_encode_value(result);
+ result = (fragment & 0x03f) >> 0;
+ *codechar++ = base64_encode_value(result);
+
+ ++(state_in->stepcount);
+ }
+ }
+ /* control should not reach here */
+ return codechar - code_out;
+}
+
+int base64_encode_blockend(char* code_out, base64_encodestate* state_in)
+{
+ char* codechar = code_out;
+
+ switch (state_in->step)
+ {
+ case step_B:
+ *codechar++ = base64_encode_value(state_in->result);
+ *codechar++ = '=';
+ *codechar++ = '=';
+ break;
+ case step_C:
+ *codechar++ = base64_encode_value(state_in->result);
+ *codechar++ = '=';
+ break;
+ case step_A:
+ break;
+ }
+
+ return codechar - code_out;
+}
+
Added: trunk/spark/utility/libb64/cencode.h
===================================================================
--- trunk/spark/utility/libb64/cencode.h (rev 0)
+++ trunk/spark/utility/libb64/cencode.h 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,33 @@
+/*
+cencode.h - c header for a base64 encoding algorithm
+
+This is part of the libb64 project, and has been placed in the public domain.
+For details, see http://sourceforge.net/projects/libb64
+*/
+
+#ifndef BASE64_CENCODE_H
+#define BASE64_CENCODE_H
+
+#define BUFFERSIZE 64
+
+typedef enum
+{
+ step_A, step_B, step_C
+} base64_encodestep;
+
+typedef struct
+{
+ base64_encodestep step;
+ char result;
+ int stepcount;
+} base64_encodestate;
+
+void base64_init_encodestate(base64_encodestate* state_in);
+
+char base64_encode_value(char value_in);
+
+int base64_encode_block(const char* plaintext_in, int length_in, char* code_out, base64_encodestate* state_in);
+
+int base64_encode_blockend(char* code_out, base64_encodestate* state_in);
+
+#endif /* BASE64_CENCODE_H */
Added: trunk/spark/utility/libb64/decode.h
===================================================================
--- trunk/spark/utility/libb64/decode.h (rev 0)
+++ trunk/spark/utility/libb64/decode.h 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,96 @@
+// :mode=c++:
+/*
+decode.h - c++ wrapper for a base64 decoding algorithm
+
+This is part of the libb64 project, and has been placed in the public domain.
+For details, see http://sourceforge.net/projects/libb64
+
+Modified for SimSpark (http://simspark.sourceforge.net)
+ */
+#ifndef BASE64_DECODE_H
+#define BASE64_DECODE_H
+
+#include <iostream>
+
+namespace base64 {
+extern "C" {
+#include "cdecode.h"
+}
+
+class Decoder
+{
+public:
+
+ void decode(std::istream& istream_in, std::ostream& ostream_in)
+ {
+ std::string code;
+ istream_in >> code;
+
+ int len = code.size();
+ char* text = new char[len]; // enough space
+
+ int textLen = decode(code, text, len);
+
+ ostream_in.write((const char*) text, textLen);
+ }
+
+ /* Please make sure the out has enough memory (but not bigger than length of in )
+ * @return the lenght of decode result
+ */
+ int decode(const std::string& in, char* out, int out_len)
+ {
+ base64_init_decodestate(&_state);
+
+ int codelength;
+ int plainlength;
+ int totalLen = 0;
+
+ const char* code = in.c_str();
+ int len = in.size();
+
+ while ( len>0 && out_len>0 )
+ {
+ if (len > out_len)
+ {
+ codelength = out_len;
+ }
+ else
+ {
+ codelength = len;
+ }
+
+ plainlength = decode(code, codelength, out+totalLen);
+
+ code += codelength;
+ len -= codelength;
+
+ out_len -= plainlength;
+ totalLen += plainlength;
+ }
+
+ return totalLen;
+ }
+
+protected:
+ int decode(char value_in)
+ {
+ return base64_decode_value(value_in);
+ }
+
+ int decode(const char* code_in, const int length_in, char* plaintext_out)
+ {
+ return base64_decode_block(code_in, length_in, plaintext_out, &_state);
+ }
+
+private:
+ base64_decodestate _state;
+ int _buffersize;
+};
+
+
+} // namespace base64
+
+
+
+#endif // BASE64_DECODE_H
+
Added: trunk/spark/utility/libb64/encode.h
===================================================================
--- trunk/spark/utility/libb64/encode.h (rev 0)
+++ trunk/spark/utility/libb64/encode.h 2010-12-14 17:07:37 UTC (rev 227)
@@ -0,0 +1,108 @@
+// :mode=c++:
+/*
+encode.h - c++ wrapper for a base64 encoding algorithm
+
+This is part of the libb64 project, and has been placed in the public domain.
+For details, see http://sourceforge.net/projects/libb64
+
+ Modified for SimSpark (http://simspark.sourceforge.net)
+ */
+#ifndef BASE64_ENCODE_H
+#define BASE64_ENCODE_H
+
+#include <iostream>
+#include <sstream>
+
+namespace base64 {
+extern "C" {
+#include "cencode.h"
+}
+
+class Encoder
+{
+public:
+
+ Encoder(int buffersize_in = BUFFERSIZE)
+ : _buffersize(buffersize_in)
+ {
+ _code = new char[2 * _buffersize];
+ }
+
+ ~Encoder()
+ {
+ delete [] _code;
+ }
+
+ void encode(std::istream& istream_in, std::ostream& ostream_in)
+ {
+ // get length
+ istream_in.seekg(0, std::ios::end);
+ int length = istream_in.tellg();
+ istream_in.seekg(0, std::ios::beg);
+
+ // allocate memory:
+ char* buffer = new char [length];
+
+ // read data as a block:
+ istream_in.read(buffer, length);
+
+ std::string code = encode(buffer, length);
+ ostream_in << code;
+ }
+
+ std::string encode(const char* in, int len)
+ {
+ base64_init_encodestate(&_state);
+
+ int plainlength;
+ int codelength;
+ std::stringstream ss;
+
+ while (len > 0) {
+ if (len > _buffersize) {
+ plainlength = _buffersize;
+ } else {
+ plainlength = len;
+ }
+ //
+ codelength = encode(in, plainlength, _code);
+
+ ss.write(_code, codelength);
+
+ in += plainlength;
+ len -= plainlength;
+ }
+
+ codelength = encode_end(_code);
+ ss.write(_code, codelength);
+
+ return ss.str();
+ }
+
+protected:
+
+ int encode(char value_in)
+ {
+ return base64_encode_value(value_in);
+ }
+
+ int encode(const char* code_in, const int length_in, char* plaintext_out)
+ {
+ return base64_encode_block(code_in, length_in, plaintext_out, &_state);
+ }
+
+ int encode_end(char* plaintext_out)
+ {
+ return base64_encode_blockend(plaintext_out, &_state);
+ }
+
+private:
+ base64_encodestate _state;
+ int _buffersize;
+ char* _code;
+};
+
+} // namespace base64
+
+#endif // BASE64_ENCODE_H
+
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <yx...@us...> - 2010-12-14 17:07:20
|
Revision: 226
http://simspark.svn.sourceforge.net/simspark/?rev=226&view=rev
Author: yxu
Date: 2010-12-14 17:07:14 +0000 (Tue, 14 Dec 2010)
Log Message:
-----------
support ruby 1.9.1
Modified Paths:
--------------
trunk/spark/cmake/FindRuby.cmake
trunk/spark/lib/zeitgeist/scriptserver/gcvalue.h
Modified: trunk/spark/cmake/FindRuby.cmake
===================================================================
--- trunk/spark/cmake/FindRuby.cmake 2010-11-15 00:01:13 UTC (rev 225)
+++ trunk/spark/cmake/FindRuby.cmake 2010-12-14 17:07:14 UTC (rev 226)
@@ -17,7 +17,7 @@
# RUBY_LIBDIR=`$RUBY -r rbconfig -e 'printf("%s",Config::CONFIG@<:@"libdir"@:>@)'`
# RUBY_LIBRUBYARG=`$RUBY -r rbconfig -e 'printf("%s",Config::CONFIG@<:@"LIBRUBYARG_SHARED"@:>@)'`
-FIND_PROGRAM(RUBY_EXECUTABLE NAMES ruby ruby1.8 ruby18 ruby1.9 ruby19)
+FIND_PROGRAM(RUBY_EXECUTABLE NAMES ruby ruby1.8 ruby18 ruby1.9 ruby19 ruby1.9.1)
IF(RUBY_EXECUTABLE AND NOT RUBY_ARCH_DIR)
@@ -86,7 +86,7 @@
# search the ruby library, the version for MSVC can have the "msvc" prefix and the "static" suffix
FIND_LIBRARY(RUBY_LIBRARY
- NAMES ruby ruby1.8 ruby1.9
+ NAMES ruby ruby1.8 ruby1.9 ruby-1.9.1
msvcrt-ruby18 msvcrt-ruby19 msvcrt-ruby191 msvcrt-ruby18-static msvcrt-ruby19-static msvcrt-ruby191-static
PATHS ${RUBY_POSSIBLE_LIB_DIR}
C:/library/ruby/lib/
Modified: trunk/spark/lib/zeitgeist/scriptserver/gcvalue.h
===================================================================
--- trunk/spark/lib/zeitgeist/scriptserver/gcvalue.h 2010-11-15 00:01:13 UTC (rev 225)
+++ trunk/spark/lib/zeitgeist/scriptserver/gcvalue.h 2010-12-14 17:07:14 UTC (rev 226)
@@ -29,6 +29,10 @@
#include <string>
#include <zeitgeist/zeitgeist_defines.h>
+#ifndef STR2CSTR
+#define STR2CSTR StringValueCStr
+#endif
+
namespace zeitgeist
{
/** \class GCValue is a ruby VALUE wrapper. It is responsible to
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2010-11-15 00:01:20
|
Revision: 225
http://simspark.svn.sourceforge.net/simspark/?rev=225&view=rev
Author: hedayat
Date: 2010-11-15 00:01:13 +0000 (Mon, 15 Nov 2010)
Log Message:
-----------
Small changes to fix the behavior. Still needs some attention (the agent proxy's timing should not be affected by the way agent sends/receives data) and testing
Modified Paths:
--------------
trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp
Modified: trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp
===================================================================
--- trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp 2010-09-28 16:21:10 UTC (rev 224)
+++ trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp 2010-11-15 00:01:13 UTC (rev 225)
@@ -122,6 +122,7 @@
while (!mAgentBuffer->IsEmpty() &&
mNetMessage->Extract(mAgentBuffer, agentmsg))
{
+ mNetMessage->PrepareToSend(agentmsg);
mServerSocket->send(agentmsg.data(), agentmsg.size());
}
agentBufLock.unlock();
@@ -129,12 +130,9 @@
mServerSocket->send(syncMsg.data(), syncMsg.size());
do
{
- int retval = mServerSocket->recv(mCycleMillisecs,
- recvbuf.data(), recvbuf.size());
+ int retval = mServerSocket->recv(recvbuf.data(), recvbuf.size());
if (retval > 0)
netbuf->AddFragment(string(recvbuf.data(), recvbuf.size()));
- else if (retval < 0 && errno == EAGAIN)
- break;
else
{
GetLog()->Error()
@@ -148,12 +146,12 @@
if (!servermsg.empty())
{
- mNetMessage->PrepareToSend(servermsg);
- mAgentSocket->send(servermsg.data(), servermsg.size(),
- MSG_DONTWAIT, Socket::DONT_CHECK);
-
cycleFinishTime = boost::get_system_time()
+ boost::posix_time::milliseconds(mCycleMillisecs);
+
+ mNetMessage->PrepareToSend(servermsg);
+ mAgentSocket->send(servermsg.data(), servermsg.size(),
+ Socket::DONT_CHECK);
}
}
catch (boost::thread_interrupted e)
@@ -171,8 +169,7 @@
while (!mFinished)
{
- int retval = mAgentSocket->recv(mCycleMillisecs * 4,
- recvbuf.data(), recvbuf.size());
+ int retval = mAgentSocket->recv(recvbuf.data(), recvbuf.size());
if (retval > 0)
{
boost::mutex::scoped_lock agentBufLock(mAgentBufferMutex);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2010-09-28 16:21:16
|
Revision: 224
http://simspark.svn.sourceforge.net/simspark/?rev=224&view=rev
Author: sgvandijk
Date: 2010-09-28 16:21:10 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
- ChangeLog
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2010-09-28 16:20:51 UTC (rev 223)
+++ trunk/rcssserver3d/ChangeLog 2010-09-28 16:21:10 UTC (rev 224)
@@ -1,3 +1,8 @@
+2010-09-28 Sander van Dijk <sgv...@gm...>
+
+ * plugin/soccermonitor/soccerrender.cpp
+ - render team names and scores in appropriate colors
+
2010-06-08 Hedayat Vatankhah <he...@gr...>
* linux/rcssserver3d.desktop:
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2010-09-28 16:20:57
|
Revision: 223
http://simspark.svn.sourceforge.net/simspark/?rev=223&view=rev
Author: sgvandijk
Date: 2010-09-28 16:20:51 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
* plugin/inputsdl/inputsystemsdl.cpp
- do not init SDL video in inputsystem
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/plugin/inputsdl/inputsystemsdl.cpp
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2010-09-28 16:18:10 UTC (rev 222)
+++ trunk/spark/ChangeLog 2010-09-28 16:20:51 UTC (rev 223)
@@ -1,3 +1,8 @@
+2010-09-28 Sander van Dijk <sgv...@gm...>
+
+ * plugin/inputsdl/inputsystemsdl.cpp
+ - do not init SDL video in inputsystem
+
2010-06-08 Hedayat Vatankhah <he...@gr...>
* plugin/accelerometer/accelerometer.cpp:
Modified: trunk/spark/plugin/inputsdl/inputsystemsdl.cpp
===================================================================
--- trunk/spark/plugin/inputsdl/inputsystemsdl.cpp 2010-09-28 16:18:10 UTC (rev 222)
+++ trunk/spark/plugin/inputsdl/inputsystemsdl.cpp 2010-09-28 16:20:51 UTC (rev 223)
@@ -87,11 +87,13 @@
// input is part of the video subsystem (because of event loops, etc..)
if (!SDL_WasInit(SDL_INIT_VIDEO))
{
+ /*
if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_NOPARACHUTE) < 0)
{
GetLog()->Error() << "ERROR: (InputSystemSDL) SDL not initialized!\n";
return false;
}
+ */
// SDL_SetVideoMode(0,0,0,0);
// static SDL_SysWMinfo pInfo;
// SDL_VERSION(&pInfo.version);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2010-09-28 16:18:16
|
Revision: 222
http://simspark.svn.sourceforge.net/simspark/?rev=222&view=rev
Author: sgvandijk
Date: 2010-09-28 16:18:10 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
* plugin/soccermonitor/soccerrender.cpp
- render team names and scores in appropriate colors
Modified Paths:
--------------
trunk/rcssserver3d/plugin/soccermonitor/soccerrender.cpp
Modified: trunk/rcssserver3d/plugin/soccermonitor/soccerrender.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccermonitor/soccerrender.cpp 2010-08-21 07:25:14 UTC (rev 221)
+++ trunk/rcssserver3d/plugin/soccermonitor/soccerrender.cpp 2010-09-28 16:18:10 UTC (rev 222)
@@ -129,23 +129,36 @@
ss_r << " " << mMonitor->GetScoreRight();
int xPos;
-
+
mFontServer->Begin();
mFont->Bind();
+
+ glDisable(GL_TEXTURE_2D);
+ glColor4f(1,1,1,0.3);
+ glBegin(GL_QUADS);
+ glVertex2f(0,0);
+ glVertex2f(1024, 0);
+ glVertex2f(1024, 40);
+ glVertex2f(0, 40);
+ glEnd();
+ glEnable(GL_TEXTURE_2D);
// draw left team info left justified
+ glColor3f(0,0,0.8);
mFont->DrawString(10, 0, ss_l.str().c_str());
// draw right team info right justified
// Window Width is mapped to 1024
// use 1014 as base to keep a small right margin
// FIXME: remove the magic numbers.
+ glColor3f(0.8,0,0);
xPos = int(1014-(mFont->GetStringWidth(ss_r.str().c_str())));
mFont->DrawString(xPos, 0, ss_r.str().c_str());
// draw game state info centered
// Window Width is mapped to 1024
// FIXME: remove the magic number.
+ glColor3f(1,1,1);
xPos = int((1024-(mFont->GetStringWidth(ss_c.str().c_str())))/2);
mFont->DrawString(xPos, 0, ss_c.str().c_str());
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <kla...@us...> - 2010-08-21 07:25:21
|
Revision: 221
http://simspark.svn.sourceforge.net/simspark/?rev=221&view=rev
Author: klausdorer
Date: 2010-08-21 07:25:14 +0000 (Sat, 21 Aug 2010)
Log Message:
-----------
major rework of perceptors, effectors, nao description and more done by Stefan Glaser
Modified Paths:
--------------
trunk/rcssserver3d/doc/users/definitions.tex
trunk/rcssserver3d/doc/users/fig/agentconnect.png
trunk/rcssserver3d/doc/users/fig/movearound.png
trunk/rcssserver3d/doc/users/fig/pitch.pdf
trunk/rcssserver3d/doc/users/fig/press3.png
trunk/rcssserver3d/doc/users/fig/presskickoff.png
trunk/rcssserver3d/doc/users/fig/soccersim.png
trunk/rcssserver3d/doc/users/fig/startup.png
trunk/rcssserver3d/doc/users/gettingstarted.tex
trunk/rcssserver3d/doc/users/robots.tex
trunk/rcssserver3d/doc/users/simspark.tex
trunk/rcssserver3d/doc/users/simulations.tex
Added Paths:
-----------
trunk/rcssserver3d/doc/users/fig/agent_vision.pdf
trunk/rcssserver3d/doc/users/fig/nao_boxmodel.pdf
trunk/rcssserver3d/doc/users/fig/nao_joints_DH.pdf
trunk/rcssserver3d/doc/users/fig/pitch2.pdf
trunk/rcssserver3d/doc/users/imagesource/
trunk/rcssserver3d/doc/users/imagesource/agent_vision.svg
trunk/rcssserver3d/doc/users/imagesource/nao_boxmodel.svg
trunk/rcssserver3d/doc/users/imagesource/nao_joints.svg
trunk/rcssserver3d/doc/users/imagesource/nao_joints_DH.svg
trunk/rcssserver3d/doc/users/imagesource/pitch.svg
trunk/rcssserver3d/doc/users/imagesource/pitch2.svg
Modified: trunk/rcssserver3d/doc/users/definitions.tex
===================================================================
--- trunk/rcssserver3d/doc/users/definitions.tex 2010-07-08 14:14:23 UTC (rev 220)
+++ trunk/rcssserver3d/doc/users/definitions.tex 2010-08-21 07:25:14 UTC (rev 221)
@@ -18,6 +18,7 @@
\usepackage[british]{babel}
\usepackage{lscape}
\usepackage{hyperref}
+\usepackage{listings}
\hypersetup{
colorlinks,%
citecolor=blue,%
@@ -110,15 +111,16 @@
Feng Xue\\%
Marian Buchta\\%
Hedayat Vatankhah\\%
+ Stefan Glaser\\%
}
}
\end{minipage}
\hspace*{6cm}
\begin{minipage}[t]{0.5\linewidth}
- \textsf{\Large\flushright{Version 1.2}}
+ \textsf{\Large\flushright{Version 1.3}}
\end{minipage}
- \vspace{-4cm}
+ \vspace{-4.5cm}
\begin{minipage}[t]{\linewidth}
\hspace*{2.25cm}
@@ -128,7 +130,7 @@
\vspace*{-0.25cm}
\hspace*{-3cm}%
\begin{minipage}[b]{3cm}
- \textsf{\Large\flushleft{January 2010}}
+ \textsf{\Large\flushleft{August 2010}}
\end{minipage}
\end{titlepage}%
@@ -141,3 +143,31 @@
\cfoot{}
\rfoot{\sf\bfseries\thepage}
+
+% Define new language for Server message listings.
+\definecolor{darkgreen}{rgb}{0, 0.6, 0}
+\lstdefinelanguage{SSML} {
+ basicstyle=\ttfamily,
+ sensitive=true,
+ breaklines=true,
+ stringstyle=\color{flexred},
+ alsoletter={0, 1, 2, 3, 4, 5, 6, 7, 8, 9, -},
+ keywords=[1]
+ {
+ teamRed, teamBlue, BeforeKickOff, 1000-501
+ }, keywordstyle={[1]\color{red}},
+ keywords=[2]
+ {
+ time, now, GS, t, pm, hear, self, GYR, rt, ACC, a, HJ, UJ, See, G1R, G2R,
+ G1L, G2L, F1R, F2R, F1L, F2L, FRP, TCH, val, pol, team, id, n, ax, c, f,
+ B, P, ax1, ax2
+ }, keywordstyle={[2]\color{blue}},
+ keywords=[3]
+ {
+ head, llowerarm, rlowerarm, lfoot, rfoot, lf, rf, torso, hj1, hj2, laj1,
+ raj1, laj2, raj2, laj3, raj3, laj4, raj4, llj1, rlj1, llj2, rlj2, llj3,
+ rlj3, llj4, rlj4, llj5, rlj5, llj6, rlj6, laj1_2, raj1_2, llj2_3, rlj2_3,
+ llj5_6, rlj5_6
+ }, keywordstyle={[3]\color{darkgreen}},
+}
+
Added: trunk/rcssserver3d/doc/users/fig/agent_vision.pdf
===================================================================
(Binary files differ)
Property changes on: trunk/rcssserver3d/doc/users/fig/agent_vision.pdf
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Modified: trunk/rcssserver3d/doc/users/fig/agentconnect.png
===================================================================
(Binary files differ)
Modified: trunk/rcssserver3d/doc/users/fig/movearound.png
===================================================================
(Binary files differ)
Added: trunk/rcssserver3d/doc/users/fig/nao_boxmodel.pdf
===================================================================
(Binary files differ)
Property changes on: trunk/rcssserver3d/doc/users/fig/nao_boxmodel.pdf
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Added: trunk/rcssserver3d/doc/users/fig/nao_joints_DH.pdf
===================================================================
(Binary files differ)
Property changes on: trunk/rcssserver3d/doc/users/fig/nao_joints_DH.pdf
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Modified: trunk/rcssserver3d/doc/users/fig/pitch.pdf
===================================================================
(Binary files differ)
Added: trunk/rcssserver3d/doc/users/fig/pitch2.pdf
===================================================================
(Binary files differ)
Property changes on: trunk/rcssserver3d/doc/users/fig/pitch2.pdf
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
Modified: trunk/rcssserver3d/doc/users/fig/press3.png
===================================================================
(Binary files differ)
Modified: trunk/rcssserver3d/doc/users/fig/presskickoff.png
===================================================================
(Binary files differ)
Modified: trunk/rcssserver3d/doc/users/fig/soccersim.png
===================================================================
(Binary files differ)
Modified: trunk/rcssserver3d/doc/users/fig/startup.png
===================================================================
(Binary files differ)
Modified: trunk/rcssserver3d/doc/users/gettingstarted.tex
===================================================================
--- trunk/rcssserver3d/doc/users/gettingstarted.tex 2010-07-08 14:14:23 UTC (rev 220)
+++ trunk/rcssserver3d/doc/users/gettingstarted.tex 2010-08-21 07:25:14 UTC (rev 221)
@@ -316,7 +316,8 @@
\begin{figure}[htbp]
\begin{center}
\includegraphics[width=0.8\textwidth]{fig/presskickoff}
-\caption{Press 'k' to start the game. The play mode will switch to 'KickOff' and the time will advance.}
+\caption{Press 'k' to start the game. The play mode will switch to 'KickOff
+Left' and the time will advance.}
\label{fig:presskickoff}
\end{center}
\end{figure}
Added: trunk/rcssserver3d/doc/users/imagesource/agent_vision.svg
===================================================================
--- trunk/rcssserver3d/doc/users/imagesource/agent_vision.svg (rev 0)
+++ trunk/rcssserver3d/doc/users/imagesource/agent_vision.svg 2010-08-21 07:25:14 UTC (rev 221)
@@ -0,0 +1,386 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:svg="http://www.w3.org/2000/svg"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ width="210mm"
+ height="297mm"
+ id="svg2"
+ sodipodi:version="0.32"
+ inkscape:version="0.46"
+ sodipodi:docname="agent_vision.svg"
+ inkscape:output_extension="org.inkscape.output.svg.inkscape">
+ <defs
+ id="defs4">
+ <marker
+ inkscape:stockid="Arrow1Mend"
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+ refY="0.0"
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+ transform="scale(0.4) rotate(180) translate(10,0)" />
+ </marker>
+ <marker
+ inkscape:stockid="Arrow2Lend"
+ orient="auto"
+ refY="0.0"
+ refX="0.0"
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+ <text
+ xml:space="preserve"
+ style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
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+ sodipodi:role="line"
+ x="354.15625"
+ y="137.08875"
+ style="font-size:8px;text-align:center;text-anchor:middle"
+ id="tspan3761">delta-z</tspan></text>
+ <text
+ xml:space="preserve"
+ style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
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+ sodipodi:role="line"
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+ style="font-size:8px;text-align:center;text-anchor:middle"
+ id="tspan3765">visible object</tspan></text>
+ <text
+ xml:space="preserve"
+ style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
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+ sodipodi:role="line"
+ x="88.359375"
+ y="210.28349"
+ style="font-size:8px;text-align:center;text-anchor:middle"
+ id="tspan3769">camera</tspan></text>
+ <path
+ style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99999994;stroke-linecap:butt;stroke-linejoin:miter;marker-end:url(#Arrow2Mend);stroke-miterlimit:4;stroke-dasharray:7.9999998, 1.99999996, 0.99999996, 1.99999996;stroke-dashoffset:0;stroke-opacity:1"
+ d="M 105.16088,202.87081 L 383.68401,202.87081"
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+ <text
+ xml:space="preserve"
+ style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
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+ id="text4839"><tspan
+ sodipodi:role="line"
+ x="368.10938"
+ y="213.08875"
+ style="font-size:8px;text-align:center;text-anchor:middle"
+ id="tspan4841">view direction</tspan></text>
+ <path
+ style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.49999997;stroke-linecap:butt;stroke-linejoin:miter;marker-start:url(#Arrow2Mstart);marker-end:url(#Arrow2Mend);stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
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+ <path
+ style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.49999997;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
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+ id="path5234" />
+ <path
+ style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.49999997;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+ d="M 335.5169,110.22213 L 338.53853,119.16358"
+ id="path5238" />
+ <path
+ style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99999988;stroke-linecap:butt;stroke-linejoin:miter;marker-end:url(#Arrow1Mend);stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+ d="M 103.50987,203.05297 L 336.99622,119.69305"
+ id="path5240" />
+ <text
+ xml:space="preserve"
+ style="font-size:39.99998093px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
+ x="163.88391"
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+ transform="matrix(0.941765,-0.3362716,0.3362716,0.941765,0,0)"><tspan
+ sodipodi:role="line"
+ x="163.88391"
+ y="215.13651"
+ style="font-size:7.99999762px;text-align:center;text-anchor:middle"
+ id="tspan8224">distance</tspan></text>
+ <text
+ xml:space="preserve"
+ style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
+ x="198.01953"
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+ id="text9328"><tspan
+ sodipodi:role="line"
+ x="198.01953"
+ y="179.27234"
+ style="font-size:8px;text-align:center;text-anchor:middle"
+ id="tspan9330">ϑ</tspan></text>
+ <text
+ xml:space="preserve"
+ style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
+ x="196.68359"
+ y="194.60828"
+ id="text9940"><tspan
+ sodipodi:role="line"
+ x="196.68359"
+ y="194.60828"
+ style="font-size:8px;text-align:center;text-anchor:middle"
+ id="tspan9942">φ</tspan></text>
+ <g
+ id="g9960"
+ transform="translate(-0.1546783,15)">
+ <g
+ id="g2430">
+ <text
+ xml:space="preserve"
+ style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
+ x="75.154678"
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+ id="text9952"><tspan
+ sodipodi:role="line"
+ x="75.154678"
+ y="102.36218"
+ style="font-size:8px;text-align:start;text-anchor:start"
+ id="tspan9954">φ = horizontal angle</tspan></text>
+ <text
+ xml:space="preserve"
+ style="font-size:40px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
+ x="74.994514"
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+ id="text9956"><tspan
+ sodipodi:role="line"
+ x="74.994514"
+ y="118.36218"
+ style="font-size:8px;text-align:start;text-anchor:start"
+ id="tspan9958">ϑ = vertical angle</tspan></text>
+ </g>
+ </g>
+ <path
+ sodipodi:type="arc"
+ style="opacity:1;fill:#000000;fill-opacity:1;stroke:#000000;stroke-width:1.24999583;stroke-linecap:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"
+ id="path3194"
+ sodipodi:cx="107.5"
+ sodipodi:cy="199.86218"
+ sodipodi:rx="2.5"
+ sodipodi:ry="2.5"
+ d="M 109.99998,199.8721 A 2.5,2.5 0 1 1 109.99864,199.77982"
+ sodipodi:start="0.0039669078"
+ sodipodi:end="6.2502327"
+ sodipodi:open="true"
+ transform="matrix(0.8000039,0,0,0.8000014,252.46834,-40.871595)" />
+ </g>
+</svg>
Added: trunk/rcssserver3d/doc/users/imagesource/nao_boxmodel.svg
===================================================================
--- trunk/rcssserver3d/doc/users/imagesource/nao_boxmodel.svg (rev 0)
+++ trunk/rcssserver3d/doc/users/imagesource/nao_boxmodel.svg 2010-08-21 07:25:14 UTC (rev 221)
@@ -0,0 +1,2125 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:svg="http://www.w3.org/2000/svg"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:xlink="http://www.w3.org/1999/xlink"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ width="210mm"
+ height="297mm"
+ id="svg2384"
+ sodipodi:version="0.32"
+ inkscape:version="0.46"
+ sodipodi:docname="nao_boxmodel2.svg"
+ inkscape:output_extension="org.inkscape.output.svg.inkscape">
+ <defs
+ id="defs2386">
+ <marker
+ inkscape:stockid="Arrow2Lend"
+ orient="auto"
+ refY="0.0"
+ refX="0.0"
+ id="Arrow2Lend"
+ style="overflow:visible;">
+ <path
+ id="path4928"
+ style="font-size:12.0;fill-rule:evenodd;stroke-width:0.62500000;stroke-linejoin:round;"
+ d="M 8.7185878,4.0337352 L -2.2072895,0.016013256 L 8.7185884,-4.0017078 C 6.9730900,-1.6296469 6.9831476,1.6157441 8.7185878,4.0337352 z "
+ transform="scale(1.1) rotate(180) translate(1,0)" />
+ </marker>
+ <marker
+ inkscape:stockid="Arrow2Lstart"
+ orient="auto"
+ refY="0.0"
+ refX="0.0"
+ id="Arrow2Lstart"
+ style="overflow:visible">
+ <path
+ id="path4925"
+ style="font-size:12.0;fill-rule:evenodd;stroke-width:0.62500000;stroke-linejoin:round"
+ d="M 8.7185878,4.0337352 L -2.2072895,0.016013256 L 8.7185884,-4.0017078 C 6.9730900,-1.6296469 6.9831476,1.6157441 8.7185878,4.0337352 z "
+ transform="scale(1.1) translate(1,0)" />
+ </marker>
+ <marker
+ inkscape:stockid="Arrow1Mstart"
+ orient="auto"
+ refY="0.0"
+ refX="0.0"
+ id="Arrow1Mstart"
+ style="overflow:visible">
+ <path
+ id="path4913"
+ d="M 0.0,0.0 L 5.0,-5.0 L -12.5,0.0 L 5.0,5.0 L 0.0,0.0 z "
+ style="fill-rule:evenodd;stroke:#000000;stroke-width:1.0pt;marker-start:none"
+ transform="scale(0.4) translate(10,0)" />
+ </marker>
+ <pattern
+ inkscape:collect="always"
+ xlink:href="#sand_bitmap"
+ id="pattern3141"
+ patternTransform="translate(648.5,-3.4999974)" />
+ <marker
+ inkscape:stockid="Arrow2Sstart"
+ orient="auto"
+ refY="0.0"
+ refX="0.0"
+ id="Arrow2Sstart"
+ style="overflow:visible">
+ <path
+ id="path5610"
+ style="font-size:12.0;fill-rule:evenodd;stroke-width:0.62500000;stroke-linejoin:round"
+ d="M 8.7185878,4.0337352 L -2.2072895,0.016013256 L 8.7185884,-4.0017078 C 6.9730900,-1.6296469 6.9831476,1.6157441 8.7185878,4.0337352 z "
+ transform="scale(0.3) translate(-2.3,0)" />
+ </marker>
+ <marker
+ inkscape:stockid="Arrow1Sstart"
+ orient="auto"
+ refY="0.0"
+ refX="0.0"
+ id="Arrow1Sstart"
+ style="overflow:visible">
+ <path
+ id="path5592"
+ d="M 0.0,0.0 L 5.0,-5.0 L -12.5,0.0 L 5.0,5.0 L 0.0,0.0 z "
+ style="fill-rule:evenodd;stroke:#000000;stroke-width:1.0pt;marker-start:none"
+ transform="scale(0.2) translate(6,0)" />
+ </marker>
+ <pattern
+ inkscape:collect="always"
+ xlink:href="#sand_bitmap"
+ id="pattern14200"
+ patternTransform="translate(768.5,-3.499991)" />
+ <pattern
+ inkscape:stockid="Sand (bitmap)"
+ id="sand_bitmap"
+ height="256"
+ width="256"
+ patternUnits="userSpaceOnUse"
+ patternTransform="translate(-9.5,-3.4999974)">
+<!-- Seamless texture provided by FreeSeamlessTextures.com --><!-- License: creative commons attribution --> <image
@@ Diff output truncated at 100000 characters. @@
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2010-07-08 14:14:30
|
Revision: 220
http://simspark.svn.sourceforge.net/simspark/?rev=220&view=rev
Author: hedayat
Date: 2010-07-08 14:14:23 +0000 (Thu, 08 Jul 2010)
Log Message:
-----------
Removed the ACC perceptor's filter after 2010 competitions
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/plugin/accelerometer/accelerometer.cpp
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2010-06-15 01:13:08 UTC (rev 219)
+++ trunk/spark/ChangeLog 2010-07-08 14:14:23 UTC (rev 220)
@@ -1,3 +1,8 @@
+2010-06-08 Hedayat Vatankhah <he...@gr...>
+
+ * plugin/accelerometer/accelerometer.cpp:
+ - remove the filter again (after 0.2.1 release)
+
2010-06-07 Hedayat Vatankhah <he...@gr...>
* NEWS:
Modified: trunk/spark/plugin/accelerometer/accelerometer.cpp
===================================================================
--- trunk/spark/plugin/accelerometer/accelerometer.cpp 2010-06-15 01:13:08 UTC (rev 219)
+++ trunk/spark/plugin/accelerometer/accelerometer.cpp 2010-07-08 14:14:23 UTC (rev 220)
@@ -84,10 +84,5 @@
Matrix invRot = mBody->GetRotation();
invRot.InvertRotationMatrix();
-// mAcc = invRot * acc;
- acc = invRot * acc;
-
- float k = 0.9;
- mAcc = k*mAcc + (1-k)*acc;
- mLastVel = vel;
+ mAcc = invRot * acc;
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <rc...@us...> - 2010-06-15 01:13:15
|
Revision: 219
http://simspark.svn.sourceforge.net/simspark/?rev=219&view=rev
Author: rckeely
Date: 2010-06-15 01:13:08 +0000 (Tue, 15 Jun 2010)
Log Message:
-----------
Added cmake.sh scripts, fixed errors with Apple build, updated plugins/CmakeFiles.txt, does not compile
Modified Paths:
--------------
branches/bullet-plugin/rcssserver3d/cmake/FindODE.cmake
branches/bullet-plugin/rcssserver3d/rcssserver3d/main.cpp
branches/bullet-plugin/spark/plugin/CMakeLists.txt
Modified: branches/bullet-plugin/rcssserver3d/cmake/FindODE.cmake
===================================================================
--- branches/bullet-plugin/rcssserver3d/cmake/FindODE.cmake 2010-06-14 09:38:48 UTC (rev 218)
+++ branches/bullet-plugin/rcssserver3d/cmake/FindODE.cmake 2010-06-15 01:13:08 UTC (rev 219)
@@ -46,6 +46,7 @@
FIND_PATH(ODE_INCLUDE_DIR ode/ode.h
/usr/include
/usr/local/include
+ $ENV{ODE_HOME}/include
$ENV{OGRE_HOME}/include # OGRE SDK on WIN32
$ENV{INCLUDE}
C:/library/ode/include
@@ -59,6 +60,7 @@
/usr/lib
/usr/lib64
/usr/local/lib
+ $ENV{ODE_HOME}/lib
$ENV{OGRE_HOME}/lib # OGRE SDK on WIN32
C:/library/ode/lib/
"C:/Program Files/ode/lib/"
Modified: branches/bullet-plugin/rcssserver3d/rcssserver3d/main.cpp
===================================================================
--- branches/bullet-plugin/rcssserver3d/rcssserver3d/main.cpp 2010-06-14 09:38:48 UTC (rev 218)
+++ branches/bullet-plugin/rcssserver3d/rcssserver3d/main.cpp 2010-06-15 01:13:08 UTC (rev 219)
@@ -31,7 +31,7 @@
#endif
#if __APPLE__
-#include <SDL.h>
+#include <SDL/SDL.h>
#endif
using namespace spark;
Modified: branches/bullet-plugin/spark/plugin/CMakeLists.txt
===================================================================
--- branches/bullet-plugin/spark/plugin/CMakeLists.txt 2010-06-14 09:38:48 UTC (rev 218)
+++ branches/bullet-plugin/spark/plugin/CMakeLists.txt 2010-06-15 01:13:08 UTC (rev 219)
@@ -11,6 +11,7 @@
add_subdirectory(accelerometer)
add_subdirectory(agentsynceffector)
+add_subdirectory(bulletimps)
add_subdirectory(filesystemstd)
add_subdirectory(filesystemzip)
add_subdirectory(forceeffector)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <rc...@us...> - 2010-06-14 09:38:56
|
Revision: 218
http://simspark.svn.sourceforge.net/simspark/?rev=218&view=rev
Author: rckeely
Date: 2010-06-14 09:38:48 +0000 (Mon, 14 Jun 2010)
Log Message:
-----------
Added stubs for Bullet plugin
Added Paths:
-----------
branches/bullet-plugin/spark/plugin/bulletimps/
branches/bullet-plugin/spark/plugin/bulletimps/CMakeLists.txt
branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconetwistjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconetwistjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletconetwistjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcontactjointhandler.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcontactjointhandler.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcontactjointhandler_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconvexcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletconvexcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletconvexcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcylindercollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletcylindercollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletcylindercollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletdynamicbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletdynamicbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletdynamicbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletemptycollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletemptycollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletemptycollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletfixedjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletfixedjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletfixedjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletgeneric6dofjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletgeneric6dofjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletgeneric6dofjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullethinge2joint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullethinge2joint.h
branches/bullet-plugin/spark/plugin/bulletimps/bullethinge2joint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullethingejoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullethingejoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bullethingejoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsobject.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsobject.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsobject_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsserver.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsserver.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletphysicsserver_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletplanecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletplanecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletplanecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletraycollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletraycollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletraycollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletrigidbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletrigidbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletrigidbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletsliderjoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletsliderjoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletsliderjoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletsoftbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletsoftbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletsoftbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletspace.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletspace.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletspace_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletspherecollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletspherecollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletspherecollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletstaticbody.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletstaticbody.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletstaticbody_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullettransformcollider.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bullettransformcollider.h
branches/bullet-plugin/spark/plugin/bulletimps/bullettransformcollider_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletuniversaljoint.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletuniversaljoint.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletuniversaljoint_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletworld.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletworld.h
branches/bullet-plugin/spark/plugin/bulletimps/bulletworld_c.cpp
branches/bullet-plugin/spark/plugin/bulletimps/bulletwrapper.h
branches/bullet-plugin/spark/plugin/bulletimps/export.cpp
Added: branches/bullet-plugin/spark/plugin/bulletimps/CMakeLists.txt
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/CMakeLists.txt (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/CMakeLists.txt 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,115 @@
+########### next target ###############
+
+set(bulletimps_LIB_SRCS
+ export.cpp
+ bulletangularmotor.cpp
+ bulletangularmotor.h
+ bulletangularmotor_c.cpp
+ bulletballjoint.cpp
+ bulletballjoint.h
+ bulletballjoint_c.cpp
+ bulletbody.cpp
+ bulletbody.h
+ bulletbody_c.cpp
+ bulletboxcollider.cpp
+ bulletboxcollider.h
+ bulletboxcollider_c.cpp
+ bulletcapsulecollider.cpp
+ bulletcapsulecollider.h
+ bulletcapsulecollider_c.cpp
+ bulletcollider.cpp
+ bulletcollider.h
+ bulletcollider_c.cpp
+ bulletcompoundcollider.cpp
+ bulletcompoundcollider.h
+ bulletcompoundcollider_c.cpp
+ bulletconcavecollider.cpp
+ bulletconcavecollider.h
+ bulletconcavecollider_c.cpp
+ bulletconecollider.cpp
+ bulletconecollider.h
+ bulletconecollider_c.cpp
+ bulletconetwistjoint.cpp
+ bulletconetwistjoint.h
+ bulletconetwistjoint_c.cpp
+ bulletcontactjointhandler.cpp
+ bulletcontactjointhandler.h
+ bulletcontactjointhandler_c.cpp
+ bulletconvexcollider.cpp
+ bulletconvexcollider.h
+ bulletconvexcollider_c.cpp
+ bulletcylindercollider.cpp
+ bulletcylindercollider.h
+ bulletcylindercollider_c.cpp
+ bulletdynamicbody.cpp
+ bulletdynamicbody.h
+ bulletdynamicbody_c.cpp
+ bulletemptycollider.cpp
+ bulletemptycollider.h
+ bulletemptycollider_c.cpp
+ bulletfixedjoint.cpp
+ bulletfixedjoint.h
+ bulletfixedjoint_c.cpp
+ bulletgeneric6dofjoint.cpp
+ bulletgeneric6dofjoint.h
+ bulletgeneric6dofjoint_c.cpp
+ bullethinge2joint.cpp
+ bullethinge2joint.h
+ bullethinge2joint_c.cpp
+ bullethingejoint.cpp
+ bullethingejoint.h
+ bullethingejoint_c.cpp
+ bulletjoint.cpp
+ bulletjoint.h
+ bulletjoint_c.cpp
+ bulletphysicsobject.cpp
+ bulletphysicsobject.h
+ bulletphysicsobject_c.cpp
+ bulletphysicsserver.cpp
+ bulletphysicsserver.h
+ bulletphysicsserver_c.cpp
+ bulletplanecollider.cpp
+ bulletplanecollider.h
+ bulletplanecollider_c.cpp
+ bulletraycollider.cpp
+ bulletraycollider.h
+ bulletraycollider_c.cpp
+ bulletrigidbody.cpp
+ bulletrigidbody.h
+ bulletrigidbody_c.cpp
+ bulletsliderjoint.cpp
+ bulletsliderjoint.h
+ bulletsliderjoint_c.cpp
+ bulletsoftbody.cpp
+ bulletsoftbody.h
+ bulletsoftbody_c.cpp
+ bulletspace.cpp
+ bulletspace.h
+ bulletspace_c.cpp
+ bulletspherecollider.cpp
+ bulletspherecollider.h
+ bulletspherecollider_c.cpp
+ bulletstaticbody.cpp
+ bulletstaticbody.h
+ bulletstaticbody_c.cpp
+ bullettransformcollider.cpp
+ bullettransformcollider.h
+ bullettransformcollider_c.cpp
+ bulletuniversaljoint.cpp
+ bulletuniversaljoint.h
+ bulletuniversaljoint_c.cpp
+ bulletworld.cpp
+ bulletworld.h
+ bulletworld_c.cpp
+ bulletwrapper.h
+)
+
+add_library(bulletimps MODULE ${bulletimps_LIB_SRCS})
+
+target_link_libraries(bulletimps ${BULLET_LIBRARY} ${spark_libs})
+
+if (NOT APPLE)
+ set_target_properties(bulletimps PROPERTIES VERSION 0.0.0 SOVERSION 0)
+endif (NOT APPLE)
+
+install(TARGETS bulletimps DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,109 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "bulletangularmotor.h"
+
+using namespace oxygen;
+using namespace salt;
+
+AngularMotorImp::AngularMotorImp() : JointImp()
+{
+
+}
+
+long AngularMotorImp::CreateAngularMotor(long worldID)
+{
+// dWorldID ODEWorld = (dWorldID) worldID;
+// dJointID ODEJoint = dJointCreateAMotor(ODEWorld, 0);
+// return (long) ODEJoint;
+}
+
+void AngularMotorImp::SetModeUserMode(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetAMotorMode(ODEJoint, dAMotorUser);
+}
+
+void AngularMotorImp::SetModeEulerMode(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetAMotorMode(ODEJoint, dAMotorEuler);
+}
+
+int AngularMotorImp::GetMode(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// int motorMode = dJointGetAMotorMode(ODEJoint);
+// if (motorMode = dAMotorUser)
+// return 0;
+// //motor is in Euler mode
+// return 1;
+}
+
+void AngularMotorImp::SetNumAxes(int num, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetAMotorNumAxes(ODEJoint, num);
+}
+
+int AngularMotorImp::GetNumAxes(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// return dJointGetAMotorNumAxes(ODEJoint);
+}
+
+void AngularMotorImp::SetMotorAxis(int idx, int anchor, Vector3f axis, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+
+// dJointSetAMotorAxis (ODEJoint, idx, anchor,
+// axis[0], axis[1], axis[2]);
+}
+
+int AngularMotorImp::GetAxisAnchor(int idx, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// return dJointGetAMotorAxisRel(ODEJoint, idx);
+}
+
+Vector3f AngularMotorImp::GetMotorAxis(int idx, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dVector3 dAxis;
+// dJointGetAMotorAxis(ODEJoint,idx,dAxis);
+// return Vector3f(dAxis[0],dAxis[1],dAxis[2]);
+}
+
+void AngularMotorImp::SetAxisAngle(int idx, float degAngle, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetAMotorAngle(ODEJoint, idx, gDegToRad(degAngle));
+}
+
+float AngularMotorImp::GetAxisAngle(int idx, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// return gRadToDeg(dJointGetAMotorAngle(ODEJoint, idx));
+}
+
+float AngularMotorImp::GetAxisAngleRate(int idx, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// return gRadToDeg(dJointGetAMotorAngleRate(ODEJoint,idx));
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,57 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef BULLETANGULARMOTOR_H
+#define BULLETANGULARMOTOR_H
+
+#include <oxygen/physicsserver/int/angularmotorint.h>
+#include "bulletjoint.h"
+
+class AngularMotorImp : public oxygen::AngularMotorInt, public JointImp{
+
+/** An angular motor allows the relative angular velocities of two
+ bodies to be controlled. The angular velocity can be controlled on
+ up to three axes, allowing torque motors and stops to be set for
+ rotation about those axes.
+
+ See physicsserver/int/angularmotorint for a documentation.
+*/
+
+public:
+ AngularMotorImp();
+ long CreateAngularMotor(long worldID);
+ void SetModeUserMode(long jointID);
+ void SetModeEulerMode(long jointID);
+ int GetMode(long jointID);
+ void SetNumAxes(int num, long jointID);
+ int GetNumAxes(long jointID);
+ void SetMotorAxis(int idx, int anchor, salt::Vector3f axis, long jointID);
+ int GetAxisAnchor(int idx, long jointID);
+ salt::Vector3f GetMotorAxis(int idx, long jointID);
+ void SetAxisAngle(int idx, float degAngle, long jointID);
+ float GetAxisAngle(int idx, long jointID);
+ float GetAxisAngleRate(int idx, long jointID);
+};
+
+DECLARE_CLASS(AngularMotorImp);
+
+#endif //BULLETANGULARMOTOR_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletangularmotor_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odeangularmotor.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(AngularMotorImp)::DefineClass()
+{
+ DEFINE_BASECLASS(JointImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,61 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "bulletballjoint.h"
+
+using namespace oxygen;
+using namespace boost;
+using namespace salt;
+
+BallJointImp::BallJointImp() : Generic6DOFJointImp()
+{
+}
+
+long BallJointImp::CreateBallJoint(long worldID)
+{
+ // dWorldID ODEWorld = (dWorldID) worldID;
+// dJointID ODEJoint = dJointCreateBall(ODEWorld, 0);
+// return (long) ODEJoint;
+}
+
+void BallJointImp::SetAnchor(const Vector3f& gAnchor, long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dJointSetBallAnchor (ODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+}
+
+Vector3f BallJointImp::GetAnchor1(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dReal anchor[3];
+// dJointGetBallAnchor (ODEJoint, anchor);
+// Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+
+// return pos;
+}
+
+Vector3f BallJointImp::GetAnchor2(long jointID)
+{
+// dJointID ODEJoint = (dJointID) jointID;
+// dReal anchor[3];
+// dJointGetBallAnchor2(ODEJoint, anchor);
+// Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+
+// return pos;
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,43 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef BULLETBALLJOINT_H
+#define BULLETBALLJOINT_H
+
+#include "bulletgeneric6dofjoint.h"
+#include <oxygen/physicsserver/int/balljointint.h>
+
+class BallJointImp : public oxygen::BallJointInt, public Generic6DOFJointImp
+{
+ /** See physicsserver/int/balljointint.h for documentation */
+
+public:
+ BallJointImp();
+ void SetAnchor(const salt::Vector3f& anchor, long jointID);
+ salt::Vector3f GetAnchor1(long jointID);
+ salt::Vector3f GetAnchor2(long jointID);
+ long CreateBallJoint(long worldID);
+};
+
+DECLARE_CLASS(BallJointImp);
+
+#endif //BULLETBALLJOINT_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletballjoint_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odeballjoint.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(BallJointImp)::DefineClass()
+{
+ DEFINE_BASECLASS(Generic6DOFJointImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletbody.h"
+
+using namespace oxygen;
+
+BodyImp::BodyImp() : PhysicsObjectImp(){
+
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletbody.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BULLETBODY_H
+#define BULLETBODY_H
+
+#include "bulletphysicsobject.h"
+#include <oxygen/physicsserver/int/bodyint.h>
+
+class BodyImp : public oxygen::BodyInt, public PhysicsObjectImp
+{
+public:
+ BodyImp();
+};
+
+DECLARE_CLASS(BodyImp);
+
+#endif //BULLETBODY_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletbody_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletbody_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletbody_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletbody.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(BodyImp)::DefineClass()
+{
+ DEFINE_BASECLASS(PhysicsObjectImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,63 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "bulletboxcollider.h"
+
+using namespace oxygen;
+using namespace salt;
+
+BoxColliderImp::BoxColliderImp() : ConvexColliderImp()
+{
+}
+
+void BoxColliderImp::SetBoxLengths(const Vector3f& extents, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomBoxSetLengths(
+// ODEGeom,
+// extents[0],
+// extents[1],
+// extents[2]
+// );
+}
+
+long BoxColliderImp::CreateBox()
+{
+// dGeomID ODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
+// return (long) ODEGeom;
+}
+
+void BoxColliderImp::GetBoxLengths(Vector3f& extents, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dVector3 lengths;
+// dGeomBoxGetLengths(ODEGeom,lengths);
+// extents[0] = lengths[0];
+// extents[1] = lengths[1];
+// extents[2] = lengths[2];
+}
+
+float BoxColliderImp::GetPointDepth(const Vector3f& pos, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// return dGeomBoxPointDepth
+// (ODEGeom,pos[0],pos[1],pos[2]);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,43 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BULLETBOXCOLLIDER_H
+#define BULLETBOXCOLLIDER_H
+
+#include "bulletconvexcollider.h"
+#include <oxygen/physicsserver/int/boxcolliderint.h>
+
+class BoxColliderImp : public oxygen::BoxColliderInt, public ConvexColliderImp
+{
+ /** See physicsserver/int/boxcolliderint.h for documentation */
+
+public:
+ BoxColliderImp();
+ void SetBoxLengths(const salt::Vector3f& extents, long geomID);
+ void GetBoxLengths(salt::Vector3f& extents, long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
+ long CreateBox();
+};
+
+DECLARE_CLASS(BoxColliderImp);
+
+#endif //BULLETBOXCOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletboxcollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletboxcollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(BoxColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(ConvexColliderImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,83 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odecapsulecollider.h"
+
+using namespace oxygen;
+using namespace salt;
+
+CapsuleColliderImp::CapsuleColliderImp() : ConvexColliderImp()
+{
+}
+
+void CapsuleColliderImp::SetParams(float radius, float length, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomCapsuleSetParams (ODEGeom, radius, length);
+}
+
+void CapsuleColliderImp::SetRadius(float radius, long geomID)
+{
+// SetParams(radius, GetLength(geomID), geomID);
+}
+
+void CapsuleColliderImp::SetLength(float length, long geomID)
+{
+// SetParams(GetRadius(geomID), length, geomID);
+}
+
+void CapsuleColliderImp::GetParams(float& radius, float& length, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dReal r,l;
+// dGeomCapsuleGetParams(ODEGeom,&r,&l);
+// radius = r;
+// length = l;
+}
+
+float CapsuleColliderImp::GetRadius(long geomID)
+{
+// float length;
+// float radius;
+// GetParams(radius, length, geomID);
+// return radius;
+}
+
+float CapsuleColliderImp::GetLength(long geomID)
+{
+// float radius;
+// float length;
+// GetParams(radius, length, geomID);
+// return length;
+}
+
+long CapsuleColliderImp::CreateCapsule()
+{
+// dGeomID ODEGeom = dCreateCapsule(0, 1.0f, 1.0f);
+// return (long) ODEGeom;
+}
+
+float CapsuleColliderImp::GetPointDepth(const Vector3f& pos, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// return dGeomCapsulePointDepth
+// (ODEGeom,pos[0],pos[1],pos[2]);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,54 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef BULLETCAPSULECOLLIDER_H
+#define BULLETCAPSULECOLLIDER_H
+
+#include "bulletconvexcollider.h"
+#include <oxygen/physicsserver/int/capsulecolliderint.h>
+
+class CapsuleColliderImp : public oxygen::CapsuleColliderInt, public ConvexColliderImp
+{
+public:
+ /** CapsuleCollider encapsulates a capsule geometry
+ object. A capsule is like a cylinder except it has
+ half-sphere caps at its ends. This feature makes the internal
+ collision detection code particularly fast and accurate.
+
+ See physicsserver/int/capsulecolliderint.h for documentation
+ */
+
+ CapsuleColliderImp();
+
+ void SetParams(float radius, float length, long geomID);
+ void SetRadius(float radius, long geomID);
+ void SetLength(float length, long geomID);
+ void GetParams(float& radius, float& length, long geomID);
+ float GetRadius(long geomID);
+ float GetLength(long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
+ long CreateCapsule();
+};
+
+DECLARE_CLASS(CapsuleColliderImp);
+
+#endif //BULLETCAPSULECOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcapsulecollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odecapsulecollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(CapsuleColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(ConvexColliderImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,129 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletcollider.h"
+#include <oxygen/physicsserver/collider.h>
+
+using namespace oxygen;
+using namespace salt;
+using namespace boost;
+using namespace std;
+
+ColliderImp::ColliderImp() : PhysicsObjectImp()
+{
+}
+
+ColliderImp::~ColliderImp()
+{
+}
+
+Collider* ColliderImp::GetColliderPointer(long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// return static_cast<Collider*>(dGeomGetData(ODEGeom));
+}
+
+void ColliderImp::SetRotation(const Matrix& rot, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dMatrix3 ODEMatrix;
+// GenericPhysicsMatrix& matrixRef = (GenericPhysicsMatrix&) ODEMatrix;
+// ConvertRotationMatrix(rot, matrixRef);
+// dGeomSetRotation(ODEGeom, ODEMatrix);
+}
+
+void ColliderImp::SetPosition(const Vector3f& globalPos, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomSetPosition (ODEGeom, globalPos[0], globalPos[1], globalPos[2]);
+}
+
+void ColliderImp::SetLocalPosition(const Vector3f& pos, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomSetPosition (ODEGeom, pos[0], pos[1], pos[2]);
+}
+
+Vector3f ColliderImp::GetPosition(long geomID) const
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// const dReal* pos = dGeomGetPosition(ODEGeom);
+// return Vector3f(pos[0],pos[1],pos[2]);
+}
+
+long ColliderImp::GetParentSpaceID(long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// return (long) dGeomGetSpace(ODEGeom);
+}
+
+bool ColliderImp::Intersect(boost::shared_ptr<Collider> collider, long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dContactGeom contact;
+
+// return dCollide
+// (ODEGeom,
+// (dGeomID) collider->GetGeomID(),
+// 1, /* ask for at most one collision point */
+// &contact,
+// sizeof(contact)
+// ) > 0;
+}
+
+void ColliderImp::DestroyGeom(long geomID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomDestroy(ODEGeom);
+}
+
+void ColliderImp::TransformSetGeom(long parentGeomID, long geomID)
+{
+// dGeomID parentODEGeom = (dGeomID) parentGeomID;
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomTransformSetGeom(parentODEGeom, ODEGeom);
+}
+
+void ColliderImp::SetSpace(long spaceID, long geomID, Collider* collider)
+{
+// dSpaceID ODESpace = (dSpaceID) spaceID;
+// dGeomID ODEGeom = (dGeomID) geomID;
+
+// if (!spaceID) return;
+// if (dSpaceQuery(ODESpace, ODEGeom)) return;
+
+// dGeomSetData(ODEGeom, collider);
+// dSpaceAdd(ODESpace, ODEGeom);
+}
+
+void ColliderImp::SetBody(long bodyID, long geomID)
+{
+// dBodyID ODEBody = (dBodyID) bodyID;
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dGeomSetBody(ODEGeom, ODEBody);
+}
+
+void ColliderImp::RemoveFromSpace(long geomID, long spaceID)
+{
+// dGeomID ODEGeom = (dGeomID) geomID;
+// dSpaceID ODESpace = (dSpaceID) spaceID;
+// dSpaceRemove(ODESpace, ODEGeom);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,65 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef ODECOLLIDER_H
+#define ODECOLLIDER_H
+
+#include "odephysicsobject.h"
+#include <oxygen/physicsserver/int/colliderint.h>
+
+class ColliderImp : public oxygen::ColliderInt, public PhysicsObjectImp
+{
+
+public:
+ ColliderImp();
+ virtual ~ColliderImp();
+
+ /** \class Collider encapsulates a geometry object- geom for
+ short. Geoms are the fundamental objects in the collision
+ system. They represent a single rigid shape as for example a
+ sphere or a box. A special kind of geom called 'space' can
+ represent a group of other geoms. A placeable geom can be
+ associated with rigid body objects. This allows the collision
+ engine to get the position and orientation of the geoms from the
+ bodies. A body and a geom together represent all the properties of
+ the simulated object.
+
+ See physicsserver/int/colliderint.h for documentation.
+ */
+
+ oxygen::Collider* GetColliderPointer(long geomID);
+ void SetPosition(const salt::Vector3f& globalPos, long geomID);
+ void SetLocalPosition(const salt::Vector3f& pos, long GeomID);
+ salt::Vector3f GetPosition(long geomID) const;
+ void SetRotation(const salt::Matrix& rot, long geomID);
+ bool Intersect(boost::shared_ptr<oxygen::Collider> collider, long geomID);
+ long GetParentSpaceID(long geomID);
+ void DestroyGeom(long geomID);
+ void TransformSetGeom(long parentGeomID, long geomID);
+ void SetSpace(long spaceID, long geomID, oxygen::Collider* collider);
+ void SetBody(long bodyID, long geomID);
+ void RemoveFromSpace(long geomID, long spaceID);
+};
+
+DECLARE_CLASS(ColliderImp);
+
+#endif //ODECOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletcollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(ColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(PhysicsObjectImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletcompoundcollider.h"
+
+using namespace oxygen;
+
+CompoundColliderImp::CompoundColliderImp() : ColliderImp(){
+
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BULLETCOMPOUNDCOLLIDER_H
+#define BULLETCOMPOUNDCOLLIDER_H
+
+#include "bulletcollider.h"
+#include <oxygen/physicsserver/int/compoundcolliderint.h>
+
+class CompoundColliderImp : public oxygen::CompoundColliderInt, public ColliderImp
+{
+public:
+ CompoundColliderImp();
+};
+
+DECLARE_CLASS(CompoundColliderImp);
+
+#endif //BULLETCOMPOUNDCOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletcompoundcollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletcompoundcollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(CompoundColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(ColliderImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletconcavecollider.h"
+
+using namespace oxygen;
+
+ConcaveColliderImp::ConcaveColliderImp() : ColliderImp(){
+
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BULLETCONCAVECOLLIDER_H
+#define BULLETCONCAVECOLLIDER_H
+
+#include "bulletcollider.h"
+#include <oxygen/physicsserver/int/concavecolliderint.h>
+
+class ConcaveColliderImp : public oxygen::ConcaveColliderInt, public ColliderImp
+{
+public:
+ ConcaveColliderImp();
+};
+
+DECLARE_CLASS(ConcaveColliderImp);
+
+#endif //BULLETCONCAVECOLLIDER_H
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider_c.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider_c.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconcavecollider_c.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletconcavecollider.h"
+#include <zeitgeist/zeitgeist.h>
+
+void CLASS(ConcaveColliderImp)::DefineClass()
+{
+ DEFINE_BASECLASS(ColliderImp);
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.cpp
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.cpp (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.cpp 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "bulletconecollider.h"
+
+using namespace oxygen;
+
+ConeColliderImp::ConeColliderImp() : ConvexColliderImp(){
+
+}
Added: branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.h
===================================================================
--- branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.h (rev 0)
+++ branches/bullet-plugin/spark/plugin/bulletimps/bulletconecollider.h 2010-06-14 09:38:48 UTC (rev 218)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should hav...
[truncated message content] |
|
From: <rc...@us...> - 2010-06-14 09:28:44
|
Revision: 217
http://simspark.svn.sourceforge.net/simspark/?rev=217&view=rev
Author: rckeely
Date: 2010-06-14 09:28:37 +0000 (Mon, 14 Jun 2010)
Log Message:
-----------
Branch for development of Bullet Physics Engine plugin
Added Paths:
-----------
branches/bullet-plugin/
Property changes on: branches/bullet-plugin
___________________________________________________________________
Added: svn:ignore
+ .project
Added: svn:mergeinfo
+ /branches/agentselection:195-206
/branches/treehole:175
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
