Update of /cvsroot/playerstage/code/stage/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9073/src
Modified Files:
Tag: release-2-1-patches
model_gripper.c p_simulation.cc
Log Message:
removed a couple of simulation debug printf's
Applied patches:
1912203 Grip location patch
1912201 add disable optmize configur option
Index: model_gripper.c
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/model_gripper.c,v
retrieving revision 1.26
retrieving revision 1.26.8.1
diff -C2 -d -r1.26 -r1.26.8.1
*** model_gripper.c 12 May 2006 22:09:50 -0000 1.26
--- model_gripper.c 16 Mar 2008 02:14:41 -0000 1.26.8.1
***************
*** 438,443 ****
int gripper_paddle_contact( stg_model_t* mod,
! stg_gripper_config_t* cfg,
! double contacts[2] )
{
stg_geom_t geom;
--- 438,443 ----
int gripper_paddle_contact( stg_model_t* mod,
! stg_gripper_config_t* cfg,
! double contacts[2] )
{
stg_geom_t geom;
***************
*** 456,464 ****
// y location of paddle beam origin
! lpz.y = (1.0 - cfg->paddle_position) *
! ((geom.size.y/2.0) - (geom.size.y*cfg->paddle_size.y));
! rpz.y = (1.0 - cfg->paddle_position) *
! -((geom.size.y/2.0) - (geom.size.y*cfg->paddle_size.y));
/* // if we're opening, we check the outside of the paddle instead */
--- 456,464 ----
// y location of paddle beam origin
! lpz.y = (1.0 - cfg->paddle_position) *
! ((geom.size.y/2.0) - (geom.size.y*cfg->paddle_size.y));
! rpz.y = (1.0 - cfg->paddle_position) *
! -((geom.size.y/2.0) - (geom.size.y*cfg->paddle_size.y));
/* // if we're opening, we check the outside of the paddle instead */
***************
*** 485,496 ****
itl_t* litl = itl_create( lpz.x, lpz.y, lpz.a,
! bbr,
! mod->world->matrix,
! PointToBearingRange );
itl_t* ritl = itl_create( rpz.x, rpz.y, rpz.a,
! bbr,
! mod->world->matrix,
! PointToBearingRange );
stg_model_t* lhit = NULL;
--- 485,496 ----
itl_t* litl = itl_create( lpz.x, lpz.y, lpz.a,
! bbr,
! mod->world->matrix,
! PointToBearingRange );
itl_t* ritl = itl_create( rpz.x, rpz.y, rpz.a,
! bbr,
! mod->world->matrix,
! PointToBearingRange );
stg_model_t* lhit = NULL;
***************
*** 507,558 ****
// if the breakbeam strikes anything
if( (lhit = itl_first_matching( litl, gripper_raytrace_match, mod )) )
! {
! contacts[0] = 1; // touching something
!
! //if( cfg->paddles == STG_GRIPPER_PADDLE_CLOSING ||
! // cfg->paddles == STG_GRIPPER_PADDLE_OPENING )
! //cfg->paddles_stalled = TRUE;
! //puts( "left hit" );
! }
if( (rhit = itl_first_matching( ritl, gripper_raytrace_match, mod )))
! {
! contacts[1] = 1;
! //puts( "right hit" );
! }
if( lhit && (lhit == rhit) )
{
! //puts( "left and right hit same thing" );
! if( cfg->paddles == STG_GRIPPER_PADDLE_CLOSING )
! {
! // grab the model we hit - very simple grip model for now
! stg_model_set_parent( lhit, mod );
!
! // and move it to be right between the paddles
! stg_geom_t hitgeom;
! stg_model_get_geom( lhit, &hitgeom );
!
! stg_pose_t pose;
! pose.x = hitgeom.size.x/2.0;
! pose.y = 0;
! pose.a = 0;
!
! stg_model_set_pose( lhit, &pose );
!
! // add this item to the stack
! cfg->grip_stack = g_slist_prepend( cfg->grip_stack, lhit );
!
! // calculate how far closed we can get the paddles now
! double puckw = hitgeom.size.y;
! double gripperw = geom.size.y;
!
! cfg->close_limit =
! MAX( 0.0, 1.0 - puckw/(gripperw - cfg->paddle_size.y/2.0 ));
! }
}
itl_destroy( litl );
--- 507,557 ----
// if the breakbeam strikes anything
if( (lhit = itl_first_matching( litl, gripper_raytrace_match, mod )) )
! {
! contacts[0] = 1; // touching something
!
! //if( cfg->paddles == STG_GRIPPER_PADDLE_CLOSING ||
! // cfg->paddles == STG_GRIPPER_PADDLE_OPENING )
! //cfg->paddles_stalled = TRUE;
! //puts( "left hit" );
! }
if( (rhit = itl_first_matching( ritl, gripper_raytrace_match, mod )))
! {
! contacts[1] = 1;
! //puts( "right hit" );
! }
if( lhit && (lhit == rhit) )
+ {
+ //puts( "left and right hit same thing" );
+
+ if( cfg->paddles == STG_GRIPPER_PADDLE_CLOSING )
{
! // get the global pose of the gripper for calculations of the gripped
object position
! // and move it to be right between the paddles
! stg_geom_t hitgeom;
! stg_model_get_geom( lhit, &hitgeom );
!
! stg_pose_t pose = {0,0,0};
! stg_model_local_to_global( lhit, &pose );
! stg_model_global_to_local( mod, &pose );
!
! // grab the model we hit - very simple grip model for now
! stg_model_set_parent( lhit, mod );
!
! stg_model_set_pose( lhit, &pose );
! // add this item to the stack
! cfg->grip_stack = g_slist_prepend( cfg->grip_stack, lhit );
!
! // calculate how far closed we can get the paddles now
! double puckw = hitgeom.size.y;
! double gripperw = geom.size.y;
!
! cfg->close_limit = MAX( 0.0, 1.0 - puckw/(gripperw -
cfg->paddle_size.y/2.0 ));
}
+ }
itl_destroy( litl );
Index: p_simulation.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/src/Attic/p_simulation.cc,v
retrieving revision 1.23
retrieving revision 1.23.4.1
diff -C2 -d -r1.23 -r1.23.4.1
*** p_simulation.cc 2 Nov 2007 00:06:51 -0000 1.23
--- p_simulation.cc 16 Mar 2008 02:14:41 -0000 1.23.4.1
***************
*** 241,245 ****
(player_simulation_pose2d_req_t*)data;
! printf( "Stage: received request for position of object \"%s\"\n",
req->name );
// look up the named model
--- 241,245 ----
(player_simulation_pose2d_req_t*)data;
! //printf( "Stage: received request for position of object \"%s\"\n",
req->name );
// look up the named model
***************
*** 251,256 ****
stg_pose_t* pose = &mod->pose;
! printf( "Stage: returning location (%.2f,%.2f,%.2f)\n",
! pose->x, pose->y, pose->a );
--- 251,255 ----
stg_pose_t* pose = &mod->pose;
! //printf( "Stage: returning location (%.2f,%.2f,%.2f)\n", pose->x,
pose->y, pose->a );
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