# HG changeset patch

# User Ian Chen <ichen@osrfoundation.org>

# Date 1401470113 25200

# Branch gazebo_3.1

# Node ID eec4aa945cebb5c68858b3526875c41dd746aae7

# Parent  839b2b92b357620f8cd7aa7854a07127f8775756

# Parent  f4f20ee4a672ef19c1af9b99c7be6bfc434974d0

Merged in issue_996_3.1 (pull request #1098)

Fix gzclient startup crash with ogre 1.9

diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake

--- a/cmake/SearchForStuff.cmake

+++ b/cmake/SearchForStuff.cmake

@@ -126,7 +126,7 @@

   #################################################

   # Find Simbody

   set(SimTK_INSTALL_DIR ${SimTK_INSTALL_PREFIX})

-  #list(APPEND CMAKE_MODULE_PATH ${SimTK_INSTALL_PREFIX}/share/cmake) 

+  #list(APPEND CMAKE_MODULE_PATH ${SimTK_INSTALL_PREFIX}/share/cmake)

   find_package(Simbody)

   if (SIMBODY_FOUND)

     set (HAVE_SIMBODY TRUE)

@@ -154,17 +154,17 @@

   if (NOT tinyxml_FOUND)

       find_path (tinyxml_INCLUDE_DIRS tinyxml.h ${tinyxml_INCLUDE_DIRS} ENV CPATH)

       find_library(tinyxml_LIBRARIES NAMES tinyxml)

-      set (tinyxml_FAIL False) 

+      set (tinyxml_FAIL False)

       if (NOT tinyxml_INCLUDE_DIRS)

         message (STATUS "Looking for tinyxml headers - not found")

-        set (tinyxml_FAIL True) 

+        set (tinyxml_FAIL True)

       endif()

       if (NOT tinyxml_LIBRARIES)

         message (STATUS "Looking for tinyxml library - not found")

-        set (tinyxml_FAIL True) 

+        set (tinyxml_FAIL True)

       endif()

   endif()

-        

+

   if (tinyxml_FAIL)

     message (STATUS "Looking for tinyxml.h - not found")

     BUILD_ERROR("Missing: tinyxml")

@@ -231,13 +231,10 @@

   endif ()

   pkg_check_modules(OGRE OGRE>=${MIN_OGRE_VERSION})

-  # There are some runtime problems to solve with ogre-1.9. 

-  # Please read gazebo issues: 994, 995, 996

-  pkg_check_modules(MAX_VALID_OGRE OGRE<=1.8.9)

+  # There are some runtime problems to solve with ogre-1.9.

+  # Please read gazebo issues: 994, 995

   if (NOT OGRE_FOUND)

     BUILD_ERROR("Missing: Ogre3d version >=${MIN_OGRE_VERSION}(http://www.orge3d.org)")

-  elseif (NOT MAX_VALID_OGRE_FOUND)

-    BUILD_ERROR("Bad Ogre3d version: gazebo using ${OGRE_VERSION} ogre version has known bugs in runtime (issue #996). Please use 1.7 or 1.8 series")

   else ()

     set(ogre_ldflags ${ogre_ldflags} ${OGRE_LDFLAGS})

     set(ogre_include_dirs ${ogre_include_dirs} ${OGRE_INCLUDE_DIRS})

@@ -372,8 +369,8 @@

   #################################################

   # Find bullet

-  # First and preferred option is to look for bullet standard pkgconfig, 

-  # so check it first. if it is not present, check for the OSRF 

+  # First and preferred option is to look for bullet standard pkgconfig,

+  # so check it first. if it is not present, check for the OSRF

   # custom bullet2.82.pc file

   pkg_check_modules(BULLET bullet>=2.82)

   if (NOT BULLET_FOUND)

@@ -453,16 +450,16 @@

 #find_path(QWT_INCLUDE_DIR NAMES qwt.h PATHS

 #  /usr/include

 #  /usr/local/include

-#  "$ENV{LIB_DIR}/include" 

-#  "$ENV{INCLUDE}" 

+#  "$ENV{LIB_DIR}/include"

+#  "$ENV{INCLUDE}"

 #  PATH_SUFFIXES qwt-qt4 qwt qwt5

 #  )

 #

-#find_library(QWT_LIBRARY NAMES qwt qwt6 qwt5 PATHS 

+#find_library(QWT_LIBRARY NAMES qwt qwt6 qwt5 PATHS

 #  /usr/lib

 #  /usr/local/lib

-#  "$ENV{LIB_DIR}/lib" 

-#  "$ENV{LIB}/lib" 

+#  "$ENV{LIB_DIR}/lib"

+#  "$ENV{LIB}/lib"

 #  )

 #

 #if (QWT_INCLUDE_DIR AND QWT_LIBRARY)

diff --git a/gazebo/rendering/Light.cc b/gazebo/rendering/Light.cc

--- a/gazebo/rendering/Light.cc

+++ b/gazebo/rendering/Light.cc

@@ -53,6 +53,9 @@

   if (this->light)

     this->scene->GetManager()->destroyLight(this->GetName());

+  this->scene->GetManager()->destroyEntity(

+      this->GetName() + "_selection_sphere");

+

   this->visual->DeleteDynamicLine(this->line);

   this->scene->RemoveVisual(this->visual);

   this->visual.reset();

@@ -276,11 +279,14 @@

     // Make sure the unit_sphere has been inserted.

     this->visual->InsertMesh("unit_sphere");

+    Ogre::Entity *ent =

+        visSceneNode->getCreator()->createEntity(this->GetName() +

+        "_selection_sphere", "unit_sphere");

+

+    ent->setMaterialName("Gazebo/White");

+

     // Create the selection object.

-    Ogre::MovableObject *obj = static_cast<Ogre::MovableObject*>

-      (visSceneNode->getCreator()->createEntity(this->GetName() +

-                                                "_selection_sphere",

-                                                "unit_sphere"));

+    Ogre::MovableObject *obj = static_cast<Ogre::MovableObject*>(ent);

     // Attach the selection object to the light visual

     visSceneNode->attachObject(obj);

diff --git a/gazebo/rendering/RenderEngine.cc b/gazebo/rendering/RenderEngine.cc

--- a/gazebo/rendering/RenderEngine.cc

+++ b/gazebo/rendering/RenderEngine.cc

@@ -66,6 +66,10 @@

   this->logManager = NULL;

   this->root = NULL;

+#if (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))

+  this->overlaySystem = NULL;

+#endif

+

   this->dummyDisplay = NULL;

   this->initialized = false;

@@ -116,10 +120,12 @@

       gzthrow("Unable to create an Ogre rendering environment, no Root ");

     }

-#if OGRE_VERSION_MAJR > 1 || OGRE_VERSION_MINOR >= 9

-    // Must be created after this->root, but before this->root is

-    // initialized.

-    this->overlaySystem = new Ogre::OverlaySystem();

+#if (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))

+    // OgreOverlay is a component on its own in ogre 1.9 so must manually

+    // initialize it. Must be created after this->root, but before this->root

+    // is initialized.

+    if (!this->overlaySystem)

+      this->overlaySystem = new Ogre::OverlaySystem();

 #endif

     // Load all the plugins

@@ -326,6 +332,11 @@

     this->RemoveScene(this->scenes.front()->GetName());

   }

+#if (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))

+  delete this->overlaySystem;

+  this->overlaySystem = NULL;

+#endif

+

   // TODO: this was causing a segfault. Need to debug, and put back in

   if (this->root)

   {

@@ -768,7 +779,7 @@

   return this->windowManager;

 }

-#if OGRE_VERSION_MAJR > 1 || OGRE_VERSION_MINOR >= 9

+#if (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))

 /////////////////////////////////////////////////

 Ogre::OverlaySystem *RenderEngine::GetOverlaySystem() const

 {

diff --git a/gazebo/rendering/Visual.cc b/gazebo/rendering/Visual.cc

--- a/gazebo/rendering/Visual.cc

+++ b/gazebo/rendering/Visual.cc

@@ -776,7 +776,7 @@

   this->InsertMesh(_meshName, _subMesh, _centerSubmesh);

   obj = (Ogre::MovableObject*)

-    (this->dataPtr->sceneNode->getCreator()->createEntity(objName, meshName));

+      (this->dataPtr->sceneNode->getCreator()->createEntity(objName, meshName));

   this->AttachObject(obj);

   return obj;

@@ -2084,6 +2084,10 @@

         rendering::Material::Update(material);

         ogreSubMesh->setMaterialName(material->GetName());

       }

+      else

+      {

+        ogreSubMesh->setMaterialName("Gazebo/White");

+      }

       // Unlock

       vBuf->unlock();