From d654e24ee8728b2ad322746ebcb8fc949c22249f Mon Sep 17 00:00:00 2001
From: vahrenkamp <vahrenkamp@042f3d55-54a8-47e9-b7fb-15903f145c44>
Date: Sat, 11 Jan 2014 21:27:00 +0000
Subject: [PATCH] Fixed OSG issues.
git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@469 042f3d55-54a8-47e9-b7fb-15903f145c44
---
.../GraspPlanner/MATPlanner/MedialSphere.h | 1 -
.../GraspPlanner/MATPlanner/MeshConverter.cpp | 7 +-
.../OSGVisualizationFactory.cpp | 2 +-
.../examples/RobotViewerOSG/CMakeLists.txt | 93 +++++++++++--------
4 files changed, 61 insertions(+), 42 deletions(-)
diff --git a/GraspPlanning/GraspPlanner/MATPlanner/MedialSphere.h b/GraspPlanning/GraspPlanner/MATPlanner/MedialSphere.h
index 38a1d81b6..0eab31386 100644
--- a/GraspPlanning/GraspPlanner/MATPlanner/MedialSphere.h
+++ b/GraspPlanning/GraspPlanner/MATPlanner/MedialSphere.h
@@ -26,7 +26,6 @@
#include "../../GraspStudio.h"
#include <vector>
#include <Eigen/Geometry>
-#include <Inventor/nodes/SoSeparator.h>
#include "StrOutHelpers.h"
diff --git a/GraspPlanning/GraspPlanner/MATPlanner/MeshConverter.cpp b/GraspPlanning/GraspPlanner/MATPlanner/MeshConverter.cpp
index aec423353..05373b117 100644
--- a/GraspPlanning/GraspPlanner/MATPlanner/MeshConverter.cpp
+++ b/GraspPlanning/GraspPlanner/MATPlanner/MeshConverter.cpp
@@ -21,8 +21,7 @@
*
*/
#include "MeshConverter.h"
-
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
+#include <VirtualRobot/Visualization/VisualizationFactory.h>
using namespace std;
using namespace Eigen;
@@ -109,7 +108,9 @@ namespace GraspStudio
{
checkAndSplitVertex(triMesh2, i, maxDist);
}
- CoinVisualizationFactoryPtr cv(new CoinVisualizationFactory());
+ VisualizationFactoryPtr cv = VisualizationFactory::first(NULL);
+ if (!cv)
+ return res;
Eigen::Matrix4f gp = object->getGlobalPose();
VisualizationNodePtr visu = cv->createTriMeshModelVisualization(triMesh2, false, gp);
CollisionModelPtr cm(new CollisionModel(visu));
diff --git a/VirtualRobot/Visualization/OSGVisualization/OSGVisualizationFactory.cpp b/VirtualRobot/Visualization/OSGVisualization/OSGVisualizationFactory.cpp
index 0a84554ec..acacc1be1 100644
--- a/VirtualRobot/Visualization/OSGVisualization/OSGVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/OSGVisualization/OSGVisualizationFactory.cpp
@@ -123,7 +123,7 @@ VisualizationNodePtr OSGVisualizationFactory::createLine(const Eigen::Matrix4f &
color->push_back(osg::Vec4(colorR,colorG,colorB,1.0));
beam->setVertexArray(points.get());
beam->setColorArray(color.get());
- beam->setColorBinding(osg::Geometry::BIND_PER_PRIMITIVE);
+ beam->setColorBinding(osg::Geometry::BIND_PER_VERTEX); // BIND_PER_PRIMITIVE
beam->addPrimitiveSet(new osg::DrawArrays(GL_LINES,0,2));
diff --git a/VirtualRobot/examples/RobotViewerOSG/CMakeLists.txt b/VirtualRobot/examples/RobotViewerOSG/CMakeLists.txt
index 6aeaed99b..d99465db2 100644
--- a/VirtualRobot/examples/RobotViewerOSG/CMakeLists.txt
+++ b/VirtualRobot/examples/RobotViewerOSG/CMakeLists.txt
@@ -4,9 +4,9 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6.4)
CMAKE_POLICY(VERSION 2.6)
-IF(VirtualRobot_VISUALIZATION AND VirtualRobot_USE_OPENSCENEGRAPH_VISUALIZATION)
+INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
- LINK_DIRECTORIES(${VirtualRobot_LIB_DIR})
+IF(Simox_VISUALIZATION AND Simox_USE_OPENSCENEGRAPH_VISUALIZATION)
# the variable "demo_SRCS" contains all .cpp files of this project
@@ -14,39 +14,58 @@ IF(VirtualRobot_VISUALIZATION AND VirtualRobot_USE_OPENSCENEGRAPH_VISUALIZATION)
FILE(GLOB demo_INCS ${PROJECT_SOURCE_DIR}/showRobotWindow.h)# osgViewerWidget.h)
- ################################## moc'ing ##############################
- set(GUI_MOC_HDRS
- ${PROJECT_SOURCE_DIR}/showRobotWindow.h
-
- )
-#${PROJECT_SOURCE_DIR}/osgViewerWidget.h
-
- set(GUI_UIS
- ${PROJECT_SOURCE_DIR}/RobotViewer.ui
- )
-
- qt4_wrap_cpp(demo_SRCS ${GUI_MOC_HDRS})
- qt4_wrap_ui(UI_HEADER ${GUI_UIS})
- get_filename_component(UI_HEADER_DIR ${UI_HEADER} PATH)
- list(APPEND demo_INCS ${UI_HEADER})
-
- include_directories(${UI_HEADER_DIR})
-
- ADD_EXECUTABLE(${PROJECT_NAME} ${demo_SRCS} ${demo_INCS})
- SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "Examples")
- SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${VirtualRobot_BIN_DIR})
-
- TARGET_LINK_LIBRARIES(${PROJECT_NAME} VirtualRobot ${VirtualRobot_VISUALIZATION_LIBS})
- INCLUDE_DIRECTORIES(${VirtualRobot_VISUALIZATION_INCLUDE_PATHS})
- INCLUDE_DIRECTORIES(${COLLADA_DOM_INCLUDE_DIRS})
- INCLUDE(${QT_USE_FILE})
- ADD_DEFINITIONS(${VirtualRobot_VISUALIZATION_COMPILE_FLAGS})
-
- INSTALL(TARGETS ${PROJECT_NAME}
- DESTINATION ${VirtualRobot_INSTALL_BIN_DIR}
- COMPONENT Applications
- )
-
- MESSAGE( STATUS ${PROJECT_NAME} " will be placed into " ${VirtualRobot_BIN_DIR})
- MESSAGE( STATUS ${PROJECT_NAME} " will be installed into " ${VirtualRobot_INSTALL_BIN_DIR})
+ ################################## moc'ing ##############################
+ set(GUI_MOC_HDRS
+ ${PROJECT_SOURCE_DIR}/showRobotWindow.h
+
+ )
+ #${PROJECT_SOURCE_DIR}/osgViewerWidget.h
+
+ set(GUI_UIS
+ ${PROJECT_SOURCE_DIR}/RobotViewer.ui
+ )
+
+ VirtualRobotQtApplication(${PROJECT_NAME} "${demo_SRCS}" "${demo_INCS}" "${GUI_MOC_HDRS}" "${GUI_UIS}")
+
+ SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
+ SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "Examples")
+
+ #######################################################################################
+ ############################ Setup for installation ###################################
+ #######################################################################################
+
+ install(TARGETS ${PROJECT_NAME}
+ # IMPORTANT: Add the library to the "export-set"
+ EXPORT SimoxTargets
+ RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ COMPONENT dev)
+
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+
+ #qt4_wrap_cpp(demo_SRCS ${GUI_MOC_HDRS})
+ #qt4_wrap_ui(UI_HEADER ${GUI_UIS})
+ #get_filename_component(UI_HEADER_DIR ${UI_HEADER} PATH)
+ #list(APPEND demo_INCS ${UI_HEADER})
+
+ #include_directories(${UI_HEADER_DIR})
+
+
+ #ADD_EXECUTABLE(${PROJECT_NAME} ${demo_SRCS} ${demo_INCS})
+ #SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "Examples")
+ #SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
+
+ #TARGET_LINK_LIBRARIES(${PROJECT_NAME} VirtualRobot ${VirtualRobot_VISUALIZATION_LIBS})
+ #INCLUDE_DIRECTORIES(${VirtualRobot_VISUALIZATION_INCLUDE_PATHS})
+ #INCLUDE_DIRECTORIES(${COLLADA_DOM_INCLUDE_DIRS})
+ #INCLUDE(${QT_USE_FILE})
+ #ADD_DEFINITIONS(${VirtualRobot_VISUALIZATION_COMPILE_FLAGS})
+
+ #INSTALL(TARGETS ${PROJECT_NAME}
+ # DESTINATION ${VirtualRobot_INSTALL_BIN_DIR}
+ # COMPONENT Applications
+ #)
+
+ # MESSAGE( STATUS ${PROJECT_NAME} " will be placed into " ${VirtualRobot_BIN_DIR})
+ # MESSAGE( STATUS ${PROJECT_NAME} " will be installed into " ${VirtualRobot_INSTALL_BIN_DIR})
ENDIF()
--
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