working on proper recursive 3D poses - it's been a hack so far

rtv · Jul 5, 2008 · 88919f9 · 88919f9
1 parent 7c871fb
commit 88919f9
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Showing 3 changed files with 12 additions and 9 deletions.
diff --git a/libstage/model.cc b/libstage/model.cc
@@ -176,17 +176,17 @@ StgModel::StgModel( StgWorld* world,
   world->AddModel( this );
 
   bzero( &pose, sizeof(pose));
-  if( parent ) 
-    pose.z = parent->geom.size.z;
+  if( parent) pose.z += parent->geom.size.z;
+
   bzero( &global_pose, sizeof(global_pose));
+  this->gpose_dirty = true;
 
   this->trail = g_array_new( false, false, sizeof(stg_trail_item_t) );
 
   this->data_fresh = false;
   this->disabled = false;
   this->blocks = NULL;
   this->rebuild_displaylist = true;
-  this->gpose_dirty = true;
   this->say_string = NULL;
   this->subs = 0;
   this->stall = false;
@@ -1268,6 +1268,9 @@ void StgModel::SetPose( stg_pose_t pose )
   //PRINT_DEBUG5( "%s.SetPose(%.2f %.2f %.2f %.2f)", 
   //	this->token, pose->x, pose->y, pose->z, pose->a );
 
+  if( parent )
+    pose.z += parent->geom.size.z;
+
   // if the pose has changed, we need to do some work
   if( memcmp( &this->pose, &pose, sizeof(stg_pose_t) ) != 0 )
     {

diff --git a/libstage/worldgui.cc b/libstage/worldgui.cc
@@ -125,10 +125,10 @@ static  const char* AboutText =
   "Part of the Player Project\n"
   "http://playerstage.org\n"
   "\n"
-  "Copyright 2000-2008 Richard Vaughan, Brian Gerkey, "
-  "Andrew Howard, Reed Hedges, Toby Collett, "
-  "Alex Couture-Beil, Jeremy Asher "
-  "and contributors";
+  "Copyright 2000-2008 Richard Vaughan,\n"
+  "  Brian Gerkey, Andrew Howard, Reed Hedges, \n"
+  "  Toby Collett, Alex Couture-Beil, Jeremy Asher \n"
+  "  and contributors";
 
 StgWorldGui::StgWorldGui(int W,int H,const char* L) : 
   Fl_Window(W,H,L )
@@ -544,7 +544,7 @@ void StgWorldGui::helpAboutCb( Fl_Widget* w, void* p )
   tbuf->append( "-" );
   tbuf->append( VERSION );
   tbuf->append( AboutText );
-  textDisplay->wrap_mode( true, 50 );
+  //textDisplay->wrap_mode( true, 50 );
   textDisplay->buffer( tbuf );
 
   Fl_Return_Button* button;

diff --git a/worlds/swarmbenchmark/cave.world b/worlds/swarmbenchmark/cave.world
@@ -33,7 +33,7 @@ define rob pioneer2dx
 #define rob fancypioneer2dx  # alternative with more complex polygons
 (
 
-  sicklaser( pose [ 0.040 0.000 0.000 ] samples 180 ) 
+ sicklaser( )#pose4 [ 0.040 0.000 0.01 0.000 ] samples 180 ) 
  # alternative laser  with more complex polygons
  # fancysicklaser( pose [ 0.040 0.000 0.000 ] samples 180 )