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
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 }
