merge with default

gazebosim · Nov 18, 2013 · a00b5c0 · a00b5c0
2 parents 807940f + c608168
commit a00b5c0
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,7 +10,7 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
 set (GAZEBO_VERSION_NAME "lithium")
-set (GAZEBO_MAJOR_VERSION 2)
+set (GAZEBO_MAJOR_VERSION 3)
 set (GAZEBO_MINOR_VERSION 0)
 # The patch version may have been bumped for prerelease purposes; be sure to
 # check gazebo-release/ubuntu/debian/changelog@default to determine what the

diff --git a/Changelog.md b/Changelog.md
@@ -1,5 +1,72 @@
 ## Gazebo 2.0
 
+### Gazebo 2.1.0 (2013-11-08)
+1. Fix mainwindow unit test
+    * [Pull request #752](https://bitbucket.org/osrf/gazebo/pull-request/752)
+1. Visualize moment of inertia
+    * Pull request [#745](https://bitbucket.org/osrf/gazebo/pull-request/745), [#769](https://bitbucket.org/osrf/gazebo/pull-request/769), [#787](https://bitbucket.org/osrf/gazebo/pull-request/787)
+    * [Issue #203](https://bitbucket.org/osrf/gazebo/issue/203)
+1. Update tool to cound lines of code
+    * [Pull request #758](https://bitbucket.org/osrf/gazebo/pull-request/758)
+1. Implement World::Clear
+    * Pull request [#785](https://bitbucket.org/osrf/gazebo/pull-request/785), [#804](https://bitbucket.org/osrf/gazebo/pull-request/804)
+1. Improve Bullet support
+    * [Pull request #805](https://bitbucket.org/osrf/gazebo/pull-request/805)
+1. Fix doxygen spacing
+    * [Pull request #740](https://bitbucket.org/osrf/gazebo/pull-request/740)
+1. Add tool to generate model images for thepropshop.org
+    * [Pull request #734](https://bitbucket.org/osrf/gazebo/pull-request/734)
+1. Added paging support for terrains
+    * [Pull request #707](https://bitbucket.org/osrf/gazebo/pull-request/707)
+1. Added plugin path to LID_LIBRARY_PATH in setup.sh
+    * [Pull request #750](https://bitbucket.org/osrf/gazebo/pull-request/750)
+1. Fixe for OSX
+    * [Pull request #766](https://bitbucket.org/osrf/gazebo/pull-request/766)
+    * [Pull request #786](https://bitbucket.org/osrf/gazebo/pull-request/786)
+    * [Issue #906](https://bitbucket.org/osrf/gazebo/issue/906)
+1. Update copyright information
+    * [Pull request #771](https://bitbucket.org/osrf/gazebo/pull-request/771)
+1. Enable screen dependant tests
+    * [Pull request #764](https://bitbucket.org/osrf/gazebo/pull-request/764)
+    * [Issue #811](https://bitbucket.org/osrf/gazebo/issue/811)
+1. Fix gazebo command line help message
+    * [Pull request #775](https://bitbucket.org/osrf/gazebo/pull-request/775)
+    * [Issue #898](https://bitbucket.org/osrf/gazebo/issue/898)
+1. Fix man page test
+    * [Pull request #774](https://bitbucket.org/osrf/gazebo/pull-request/774)
+1. Improve load time by reducing calls to RTShader::Update
+    * [Pull request #773](https://bitbucket.org/osrf/gazebo/pull-request/773)
+    * [Issue #877](https://bitbucket.org/osrf/gazebo/issue/877)
+1. Fix joint visualization
+    * [Pull request #776](https://bitbucket.org/osrf/gazebo/pull-request/776)
+    * [Pull request #802](https://bitbucket.org/osrf/gazebo/pull-request/802)
+    * [Issue #464](https://bitbucket.org/osrf/gazebo/issue/464)
+1. Add helpers to fix NaN
+    * [Pull request #742](https://bitbucket.org/osrf/gazebo/pull-request/742)
+1. Fix model resizing via the GUI
+    * [Pull request #763](https://bitbucket.org/osrf/gazebo/pull-request/763)
+    * [Issue #885](https://bitbucket.org/osrf/gazebo/issue/885)
+1. Simplify gzlog test by using sha1
+    * [Pull request #781](https://bitbucket.org/osrf/gazebo/pull-request/781)
+    * [Issue #837](https://bitbucket.org/osrf/gazebo/issue/837)
+1. Enable cppcheck for header files
+    * [Pull request #782](https://bitbucket.org/osrf/gazebo/pull-request/782)
+    * [Issue #907](https://bitbucket.org/osrf/gazebo/issue/907)
+1. Fix broken regression test
+    * [Pull request #784](https://bitbucket.org/osrf/gazebo/pull-request/784)
+    * [Issue #884](https://bitbucket.org/osrf/gazebo/issue/884)
+1. All simbody and dart to pass tests
+    * [Pull request #790](https://bitbucket.org/osrf/gazebo/pull-request/790)
+    * [Issue #873](https://bitbucket.org/osrf/gazebo/issue/873)
+1. Fix camera rotation from SDF
+    * [Pull request #789](https://bitbucket.org/osrf/gazebo/pull-request/789)
+    * [Issue #920](https://bitbucket.org/osrf/gazebo/issue/920)
+1. Fix bitbucket pullrequest command line tool to match new API
+    * [Pull request #803](https://bitbucket.org/osrf/gazebo/pull-request/803)
+1. Fix transceiver spanw errors in tests
+    * [Pull request #811](https://bitbucket.org/osrf/gazebo/pull-request/811)
+    * [Pull request #814](https://bitbucket.org/osrf/gazebo/pull-request/814)
+
 ### Gazebo 2.0.0 (2013-10-08)
 1. Refactor code check tool.
     * [Pull Request #669](https://bitbucket.org/osrf/gazebo/pull-request/669)
@@ -81,6 +148,35 @@
 
 ## Gazebo 1.9
 
+### Gazebo 1.9.2 (2013-11-08)
+1. Fix enable/disable sky and clouds from SDF
+    * [Pull request #809](https://bitbucket.org/osrf/gazebo/pull-request/809])
+1. Fix occasional blank GUI screen on startup 
+    * [Pull request #815](https://bitbucket.org/osrf/gazebo/pull-request/815])
+1. Fix GPU laser when interacting with heightmaps
+    * [Pull request #796](https://bitbucket.org/osrf/gazebo/pull-request/796])
+1. Added API/ABI cheker command line tool
+    * [Pull request #765](https://bitbucket.org/osrf/gazebo/pull-request/765])
+1. Added gtest version information 
+    * [Pull request #801](https://bitbucket.org/osrf/gazebo/pull-request/801])
+1. Fix GUI world saving
+    * [Pull request #806](https://bitbucket.org/osrf/gazebo/pull-request/806])
+1. Enable anti-aliasing for camera sensor
+    * [Pull request #800](https://bitbucket.org/osrf/gazebo/pull-request/800])
+1. Make sensor noise deterministic
+    * [Pull request #788](https://bitbucket.org/osrf/gazebo/pull-request/788])
+1. Fix build problem
+    * [Issue #901](https://bitbucket.org/osrf/gazebo/issue/901)
+    * [Pull request #778](https://bitbucket.org/osrf/gazebo/pull-request/778])
+1. Fix a typo in Camera.cc
+    * [Pull request #720](https://bitbucket.org/osrf/gazebo/pull-request/720])
+    * [Issue #846](https://bitbucket.org/osrf/gazebo/issue/846)
+1. Fix OSX menu bar
+    * [Pull request #688](https://bitbucket.org/osrf/gazebo/pull-request/688])
+1. Fix gazebo::init by calling sdf::setFindCallback() before loading the sdf in gzfactory.
+    * [Pull request #678](https://bitbucket.org/osrf/gazebo/pull-request/678])
+    * [Issue #817](https://bitbucket.org/osrf/gazebo/issue/817)
+
 ### Gazebo 1.9.1 (2013-08-20)
 * Deprecate header files that require case-sensitive filesystem (e.g. Common.hh, Physics.hh) [https://bitbucket.org/osrf/gazebo/pull-request/638/fix-for-775-deprecate-headers-that-require]
 * Initial support for building on Mac OS X [https://bitbucket.org/osrf/gazebo/pull-request/660/osx-support-for-gazebo-19] [https://bitbucket.org/osrf/gazebo/pull-request/657/cmake-fixes-for-osx]

diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
@@ -68,7 +68,7 @@ endif ()
 # Find packages
 if (PKG_CONFIG_FOUND)
 
-  pkg_check_modules(SDF sdformat>=1.4.7)
+  pkg_check_modules(SDF sdformat>=1.4.10)
   if (NOT SDF_FOUND)
     BUILD_ERROR ("Missing: SDF. Required for reading and writing SDF files.")
   endif()

diff --git a/deps/opende/include/ode/odemath.h b/deps/opende/include/ode/odemath.h
@@ -278,6 +278,7 @@ PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b)
  * special case matrix multiplication, with operator selection
  */
 
+/// res(3X1) = a(3X3) * b(3X1)
 PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b)
 {
   dReal res_0, res_1, res_2;
@@ -288,6 +289,7 @@ PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b
   res[0] = res_0; res[1] = res_1; res[2] = res_2;
 }
 
+/// res(3X1) = a'(3X3) * b(3X1)
 PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b)
 {
   dReal res_0, res_1, res_2;
@@ -298,11 +300,13 @@ PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b
   res[0] = res_0; res[1] = res_1; res[2] = res_2;
 }
 
+/// res(1X3) = a(1X3) * b(3X3)
 PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b)
 {
   dMultiplyHelper1_331(res, b, a);
 }
 
+/// res(1X3) = a'(3X3) * b(first column from a 3X3 matrix)
 PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b)
 {
   dReal res_0, res_1, res_2;
@@ -333,20 +337,23 @@ PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b)
   dMultiplyHelper0_133(res, a, b);
 }
 
+/// res(3X3) = a(3X3) * b(3X3)
 PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b)
 {
   dMultiplyHelper0_133(res + 0, a + 0, b);
   dMultiplyHelper0_133(res + 4, a + 4, b);
   dMultiplyHelper0_133(res + 8, a + 8, b);
 }
 
+/// res(3X3) = a'(3X3) * b(3X3)
 PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b)
 {
   dMultiplyHelper1_133(res + 0, b, a + 0);
   dMultiplyHelper1_133(res + 4, b, a + 1);
   dMultiplyHelper1_133(res + 8, b, a + 2);
 }
 
+/// res(3X3) = a(3X3) * b'(3X3)
 PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b)
 {
   dMultiplyHelper0_331(res + 0, b, a + 0);

diff --git a/deps/opende/src/joints/hinge.cpp b/deps/opende/src/joints/hinge.cpp
@@ -114,6 +114,18 @@ dxJointHinge::getInfo2( dxJoint::Info2 *info )
     dMultiply0_331( ax1, node[0].body->posr.R, axis1 );
     dPlaneSpace( ax1, p, q );
 
+    // strange the rotation matrix is not really a rotation matrix (non-orthogonal vectors)
+    // normals of columns and rows are not exactly 1 when velocity is large.
+    // printf("posr.R\n[%f %f %f %f]\n[%f %f %f %f]\n[%f %f %f %f]\n",
+    //   node[0].body->posr.R[0*4+0],node[0].body->posr.R[0*4+1],node[0].body->posr.R[0*4+2],node[0].body->posr.R[0*4+3],
+    //   node[0].body->posr.R[1*4+0],node[0].body->posr.R[1*4+1],node[0].body->posr.R[1*4+2],node[0].body->posr.R[1*4+3],
+    //   node[0].body->posr.R[2*4+0],node[0].body->posr.R[2*4+1],node[0].body->posr.R[2*4+2],node[0].body->posr.R[2*4+3]);
+
+    // printf("axis1 [%f %f %f] ax1 [%f %f %f]\n",
+    //         axis1[0], axis1[1], axis1[2],
+    //         ax1[0], ax1[1], ax1[2]);
+
+
     int s3 = 3 * info->rowskip;
     int s4 = 4 * info->rowskip;