# 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();