ogre_tools: ogre_tools: initialization.cpp Source File

00001 #include "initialization.h"
00002 
00003 #include <OGRE/OgreRoot.h>
00004 #include <OGRE/OgreRenderSystem.h>
00005 #include <OGRE/OgreLogManager.h>
00006 
00007 #include <exception>
00008 #include <stdexcept>
00009 
00010 #include <ros/package.h>
00011 
00012 namespace ogre_tools
00013 {
00014 void initializeOgre(bool enable_ogre_log)
00015 {
00016   try
00017   {
00018     Ogre::LogManager* log_manager = new Ogre::LogManager();
00019     log_manager->createLog( "Ogre.log", false, false, !enable_ogre_log );
00020 
00021     std::string plugin_prefix;
00022 #ifdef OGRE_PLUGIN_PATH
00023     plugin_prefix = OGRE_PLUGIN_PATH + std::string("/");
00024 #endif
00025 
00026     Ogre::Root* root = new Ogre::Root();
00027     root->loadPlugin( plugin_prefix + "RenderSystem_GL" );
00028     root->loadPlugin( plugin_prefix + "Plugin_OctreeSceneManager" );
00029     root->loadPlugin( plugin_prefix + "Plugin_ParticleFX" );
00030     root->loadPlugin( plugin_prefix + "Plugin_CgProgramManager" );
00031 
00032     // Taken from gazebo
00033     Ogre::RenderSystem* render_system = NULL;
00034 #if OGRE_VERSION_MAJOR >=1 && OGRE_VERSION_MINOR >= 7
00035     Ogre::RenderSystemList rsList = root->getAvailableRenderers();
00036     Ogre::RenderSystemList::iterator renderIt = rsList.begin();
00037     Ogre::RenderSystemList::iterator renderEnd = rsList.end();
00038 #else
00039     Ogre::RenderSystemList* rsList = root->getAvailableRenderers();
00040     Ogre::RenderSystemList::iterator renderIt = rsList->begin();
00041     Ogre::RenderSystemList::iterator renderEnd = rsList->end();
00042 #endif
00043     for ( ; renderIt != renderEnd; ++renderIt )
00044     {
00045       render_system = *renderIt;
00046 
00047       if ( render_system->getName() == "OpenGL Rendering Subsystem" )
00048       {
00049         break;
00050       }
00051     }
00052 
00053     if ( render_system == NULL )
00054     {
00055       throw std::runtime_error( "Could not find the opengl rendering subsystem!\n" );
00056     }
00057 
00058     render_system->setConfigOption("Full Screen","No");
00059     render_system->setConfigOption("FSAA","2");
00060     render_system->setConfigOption("RTT Preferred Mode", "FBO");
00061 
00062     root->setRenderSystem( render_system );
00063 
00064     root->initialise( false );
00065 
00066     std::string ogre_tools_path = ros::package::getPath(ROS_PACKAGE_NAME);
00067     Ogre::ResourceGroupManager::getSingleton().addResourceLocation( ogre_tools_path + "/media", "FileSystem", ROS_PACKAGE_NAME );
00068     Ogre::ResourceGroupManager::getSingleton().addResourceLocation( ogre_tools_path + "/media/fonts", "FileSystem", ROS_PACKAGE_NAME );
00069     Ogre::ResourceGroupManager::getSingleton().addResourceLocation( ogre_tools_path + "/media/models", "FileSystem", ROS_PACKAGE_NAME );
00070     Ogre::ResourceGroupManager::getSingleton().addResourceLocation( ogre_tools_path + "/media/materials", "FileSystem", ROS_PACKAGE_NAME );
00071     Ogre::ResourceGroupManager::getSingleton().addResourceLocation( ogre_tools_path + "/media/materials/scripts", "FileSystem", ROS_PACKAGE_NAME );
00072     Ogre::ResourceGroupManager::getSingleton().addResourceLocation( ogre_tools_path + "/media/materials/programs", "FileSystem", ROS_PACKAGE_NAME );
00073   }
00074   catch ( Ogre::Exception& e )
00075   {
00076       printf( "Failed to initialize Ogre: %s\n", e.what() );
00077       throw;
00078   }
00079 }
00080 
00081 void cleanupOgre()
00082 {
00083   delete Ogre::Root::getSingletonPtr();
00084 }
00085 
00086 void initializeResources( const V_string& resource_paths )
00087 {
00088   V_string::const_iterator path_it = resource_paths.begin();
00089   V_string::const_iterator path_end = resource_paths.end();
00090   for( ; path_it != path_end; ++path_it )
00091   {
00092     Ogre::ResourceGroupManager::getSingleton().addResourceLocation( *path_it, "FileSystem", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME );
00093   }
00094 
00095   Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
00096 }
00097 
00098 } // namespace ogre_tools