diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
index 671a579888ca003277c4d11765815e733e3fbec1..638e86945824c1e9df1caaa0558e0ae6e5a5a566 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
@@ -27,6 +27,9 @@ BulletCoinQtViewer::BulletCoinQtViewer(DynamicsWorldPtr world)
updateTimerIntervalMS = 5;
+ // no mutex for standard viewer
+ //engineMutexPtr.reset(new boost::recursive_mutex());
+
//const double TIMER_MS = 5.0f;
SIMDYNAMICS_ASSERT(world);
@@ -103,7 +106,7 @@ void BulletCoinQtViewer::timerCB(void * data, SoSensor * sensor)
}
-void BulletCoinQtViewer::initSceneGraph( QFrame* embedViewer, SoNode* scene )
+void BulletCoinQtViewer::initSceneGraph( QFrame* embedViewer, SoNode* scene, int antiAliasingSteps /* =0 */ )
{
viewer = new SoQtExaminerViewer(embedViewer,"",TRUE,SoQtExaminerViewer::BUILD_POPUP);
@@ -111,7 +114,7 @@ void BulletCoinQtViewer::initSceneGraph( QFrame* embedViewer, SoNode* scene )
viewer->setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
viewer->setAccumulationBuffer(true);
- viewer->setAntialiasing(true, 4);
+ //viewer->setAntialiasing(true, 4);
viewer->setGLRenderAction(new SoBoxHighlightRenderAction);
viewer->setTransparencyType(SoGLRenderAction::SORTED_OBJECT_BLEND);
@@ -142,7 +145,10 @@ void BulletCoinQtViewer::initSceneGraph( QFrame* embedViewer, SoNode* scene )
sceneGraph->addChild(scene);
viewer->setSceneGraph(sceneGraphRoot);
- viewer->setAntialiasing(true, 4);
+ if (antiAliasingSteps>0)
+ viewer->setAntialiasing(true, antiAliasingSteps);
+ else
+ viewer->setAntialiasing(false,0);
viewer->viewAll();
}
@@ -154,7 +160,7 @@ void BulletCoinQtViewer::scheduleRedraw()
void BulletCoinQtViewer::stepPhysics()
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
+ MutexLockPtr lock = getScopedLock();
//simple dynamics world doesn't handle fixed-time-stepping
double ms = getDeltaTimeMicroseconds();
@@ -216,8 +222,8 @@ void BulletCoinQtViewer::viewAll()
void BulletCoinQtViewer::addVisualization(RobotPtr robot, VirtualRobot::SceneObject::VisualizationType visuType, SoSeparator* container)
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- //VR_ASSERT(so);
+ MutexLockPtr lock = getScopedLock();
+ //VR_ASSERT(so);
removeVisualization(robot);
boost::shared_ptr<VirtualRobot::CoinVisualization> visualization = robot->getVisualization<CoinVisualization>(visuType);
@@ -240,8 +246,8 @@ void BulletCoinQtViewer::addVisualization(RobotPtr robot, VirtualRobot::SceneObj
void BulletCoinQtViewer::addVisualization(SceneObjectPtr so, VirtualRobot::SceneObject::VisualizationType visuType, SoSeparator* container)
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(so);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(so);
removeVisualization(so);
SoNode * n = CoinVisualizationFactory::getCoinVisualization(so, visuType);
if (n)
@@ -261,8 +267,8 @@ void BulletCoinQtViewer::addVisualization(SceneObjectPtr so, VirtualRobot::Scene
void BulletCoinQtViewer::addVisualization(DynamicsObjectPtr o, VirtualRobot::SceneObject::VisualizationType visuType, SoSeparator* container)
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(o);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(o);
SceneObjectPtr so = o->getSceneObject();
VR_ASSERT(so);
removeVisualization(o);
@@ -289,8 +295,8 @@ void BulletCoinQtViewer::addStepCallback(BulletStepCallback callback, void* data
void BulletCoinQtViewer::addVisualization(DynamicsRobotPtr r, VirtualRobot::SceneObject::VisualizationType visuType, SoSeparator* container)
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(r);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(r);
RobotPtr ro = r->getRobot();
VR_ASSERT(ro);
removeVisualization(r);
@@ -320,8 +326,8 @@ void BulletCoinQtViewer::addVisualization(DynamicsRobotPtr r, VirtualRobot::Scen
void BulletCoinQtViewer::removeVisualization( RobotPtr o )
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(o);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(o);
if (addedSpriteRobotVisualizations.find(o) != addedSpriteRobotVisualizations.end())
{
sceneGraph->removeChild(addedSpriteRobotVisualizations[o]);
@@ -331,8 +337,8 @@ void BulletCoinQtViewer::removeVisualization( RobotPtr o )
void BulletCoinQtViewer::removeVisualization( SceneObjectPtr o )
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(o);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(o);
if (addedSpriteVisualizations.find(o) != addedSpriteVisualizations.end())
{
sceneGraph->removeChild(addedSpriteVisualizations[o]);
@@ -342,8 +348,8 @@ void BulletCoinQtViewer::removeVisualization( SceneObjectPtr o )
void BulletCoinQtViewer::removeVisualization( DynamicsObjectPtr o )
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(o);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(o);
if (addedVisualizations.find(o) != addedVisualizations.end())
{
sceneGraph->removeChild(addedVisualizations[o]);
@@ -353,8 +359,8 @@ void BulletCoinQtViewer::removeVisualization( DynamicsObjectPtr o )
void BulletCoinQtViewer::removeVisualization( DynamicsRobotPtr r )
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(r);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(r);
if (addedRobotVisualizations.find(r) != addedRobotVisualizations.end())
{
sceneGraph->removeChild(addedRobotVisualizations[r]);
@@ -364,8 +370,8 @@ void BulletCoinQtViewer::removeVisualization( DynamicsRobotPtr r )
void BulletCoinQtViewer::stopCB()
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- if (timerSensor)
+ MutexLockPtr lock = getScopedLock();
+ if (timerSensor)
{
SoSensorManager *sensor_mgr = SoDB::getSensorManager();
sensor_mgr->removeTimerSensor(timerSensor);
@@ -381,39 +387,36 @@ void BulletCoinQtViewer::stopCB()
void BulletCoinQtViewer::setBulletSimTimeStepMsec(int msec)
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(msec > 0);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(msec > 0);
bulletTimeStepMsec = msec;
}
void BulletCoinQtViewer::setBulletSimMaxSubSteps(int n)
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- VR_ASSERT(n > 0);
+ MutexLockPtr lock = getScopedLock();
+ VR_ASSERT(n > 0);
bulletMaxSubSteps = n;
}
bool BulletCoinQtViewer::engineRunning()
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- return enablePhysicsUpdates;
+ return enablePhysicsUpdates;
}
void BulletCoinQtViewer::stopEngine()
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- enablePhysicsUpdates = false;
+ MutexLockPtr lock = getScopedLock();
+ enablePhysicsUpdates = false;
}
void BulletCoinQtViewer::startEngine()
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
- enablePhysicsUpdates = true;
+ MutexLockPtr lock = getScopedLock();
+ enablePhysicsUpdates = true;
}
void BulletCoinQtViewer::updatePhysics()
{
- boost::recursive_mutex::scoped_lock scoped_lock(engineMutex);
-
if (enablePhysicsUpdates)
stepPhysics();
}
@@ -435,6 +438,24 @@ void BulletCoinQtViewer::setUpdateInterval( int updateTimerIntervalMS )
timerSensor->setInterval(SbTime(float(updateTimerIntervalMS)/1000.0f));
}
+void BulletCoinQtViewer::setMutex(boost::shared_ptr<boost::recursive_mutex> engineMutexPtr)
+{
+ this->engineMutexPtr = engineMutexPtr;
+}
+
+BulletCoinQtViewer::MutexLockPtr BulletCoinQtViewer::getScopedLock()
+{
+ boost::shared_ptr< boost::recursive_mutex::scoped_lock > scoped_lock;
+ if (engineMutexPtr)
+ scoped_lock.reset(new boost::recursive_mutex::scoped_lock(*engineMutexPtr));
+ return scoped_lock;
+}
+
+void BulletCoinQtViewer::setAntiAliasing(int steps)
+{
+ MutexLockPtr lock = getScopedLock();
+ viewer->setAntialiasing(steps > 0, steps);
+}
}
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h
index b77ac778a99bfa7b6296628d75573065d6d3d020..2b9029e0880b02e0f8dc5e81efb0186ae56ade4a 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h
@@ -55,8 +55,9 @@ public:
Call this method to initialize the 3d viewer.
\param embedViewer The 3d viewer will be embedded in this QFrame.
\param scene The scene that should be displayed.
+ \param antiAliasingSteps If >0, anti aliasing is enabled. The parameter defines the number of rendering steps. This may slow down rendering on old gfx cards.
*/
- virtual void initSceneGraph(QFrame* embedViewer, SoNode* scene);
+ virtual void initSceneGraph(QFrame* embedViewer, SoNode* scene, int antiAliasingSteps = 0);
/*!
In this mode, the time between two updates is measures and the engine is stepped accordingly. (standard)
@@ -146,11 +147,35 @@ public:
int getBulletSimMaxSubSteps() const { return bulletMaxSubSteps; }
int getUpdateTimerInterval() const { return updateTimerIntervalMS; }
+ //! If steps==0 anti aliasing is disabled
+ void setAntiAliasing(int steps);
+
/*!
* Adds callback that is called each time the engine is updated.
*/
void addStepCallback(BulletStepCallback callback, void* data);
+ //! If set, all actions are protected with this mutex
+ virtual void setMutex(boost::shared_ptr<boost::recursive_mutex> engineMutexPtr);
+
+ typedef boost::shared_ptr< boost::recursive_mutex::scoped_lock > MutexLockPtr;
+ /*!
+ This lock can be used to protect data access. It locks the mutex until deletion.
+ If no mutex was specified, an empty lock will be returned which does not protect the engine calls (this is the standard behavior).
+ \see setMutex
+
+ Exemplary usage:
+ {
+ MutexLockPtr lock = getScopedLock();
+ // now the mutex is locked
+
+ // access data
+ // ...
+
+ } // end of scope -> lock gets deleted and mutex is released automatically
+ */
+ MutexLockPtr getScopedLock();
+
protected:
//checks if physics engine is enabled and performes a time step.
@@ -212,7 +237,7 @@ protected:
bool enablePhysicsUpdates;
int updateTimerIntervalMS;
- boost::recursive_mutex engineMutex;
+ boost::shared_ptr <boost::recursive_mutex> engineMutexPtr;
};
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index 49b9be030734c6021edd266e1ef70a49a0f4a97d..caf3fd7fed14805ffaaa6ec68ac0767bbf971616 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -694,7 +694,8 @@ std::vector<BulletRobot::LinkInfo> BulletRobot::getLinks(BulletObjectPtr node)
bool BulletRobot::attachObject(const string &nodeName, DynamicsObjectPtr object)
{
- return attachObjectLink(nodeName,object);
+ BulletRobot::LinkInfoPtr li = attachObjectLink(nodeName, object);
+ return bool(li);
}
BulletRobot::LinkInfoPtr BulletRobot::attachObjectLink(const string &nodeName, DynamicsObjectPtr object)
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsViewer.ui b/SimDynamics/examples/SimDynamicsViewer/simDynamicsViewer.ui
index 785563e38a4109f3b6a6912f758205c777cf6ad0..c70f4fc21c56c5fe6ece924746f9c59b7eebe386 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsViewer.ui
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsViewer.ui
@@ -199,8 +199,8 @@
<property name="geometry">
<rect>
<x>10</x>
- <y>600</y>
- <width>201</width>
+ <y>610</y>
+ <width>381</width>
<height>91</height>
</rect>
</property>
@@ -246,6 +246,32 @@
<string>Collision Model</string>
</property>
</widget>
+ <widget class="QSpinBox" name="spinBoxAntiAliasing">
+ <property name="geometry">
+ <rect>
+ <x>240</x>
+ <y>40</y>
+ <width>42</width>
+ <height>22</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>6</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label">
+ <property name="geometry">
+ <rect>
+ <x>240</x>
+ <y>20</y>
+ <width>111</width>
+ <height>16</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Anti Aliasing</string>
+ </property>
+ </widget>
</widget>
<widget class="QGroupBox" name="groupBox_4">
<property name="geometry">
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
index 3ffb5573e51c4a259ad14cf68317bc0e3e1e2a6e..057785dc65f978e6c6cb13bf5ecfbc26de4e5985 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
@@ -155,6 +155,7 @@ void SimDynamicsWindow::setupUI()
UI.horizontalSliderUpdateTimer->setValue(viewer->getUpdateTimerInterval());
connect(UI.horizontalSliderFixedTimeStep, SIGNAL(valueChanged(int)), this, SLOT(fixedTimeStepChanged(int)));
connect(UI.horizontalSliderUpdateTimer, SIGNAL(valueChanged(int)), this, SLOT(updateTimerChanged(int)));
+ connect(UI.spinBoxAntiAliasing, SIGNAL(valueChanged(int)), this, SLOT(updateAntiAliasing(int)));
/*connect(UI.pushButtonLoad, SIGNAL(clicked()), this, SLOT(selectRobot()));
connect(UI.pushButtonClose, SIGNAL(clicked()), this, SLOT(closeHand()));
@@ -797,3 +798,8 @@ void SimDynamicsWindow::updateTimerChanged( int n )
viewer->setUpdateInterval(n);
}
+
+void SimDynamicsWindow::updateAntiAliasing(int n)
+{
+ viewer->setAntiAliasing(n);
+}
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.h b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.h
index 135e33e5b2c02f58f45876c97e6330b47d1c8b0f..c0e22d1d59176bf9cbf544c637c7a37eb5c28ad2 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.h
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.h
@@ -57,8 +57,9 @@ public slots:
void selectRobotNode(int n);
void jointValueChanged(int n);
void fixedTimeStepChanged(int n);
- void updateTimerChanged(int n);
- void comVisu();
+ void updateTimerChanged(int n);
+ void updateAntiAliasing(int n);
+ void comVisu();
void updateJointInfo();
void startStopEngine();