Revision: 8373
http://playerstage.svn.sourceforge.net/playerstage/?rev=8373&view=rev
Author: natepak
Date: 2009-11-05 22:39:29 +0000 (Thu, 05 Nov 2009)
Log Message:
-----------
Fixed a problem with custom mass matrices
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/ode/ODEBody.cc
Added Paths:
-----------
code/gazebo/trunk/worlds/coffee_cup.world
code/gazebo/trunk/worlds/cog.world
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-11-05 19:07:19 UTC (rev
8372)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-11-05 22:39:29 UTC (rev
8373)
@@ -366,9 +366,9 @@
if (this->cgVisual)
{
this->cgVisual->AttachMesh("body_cg");
- this->cgVisual->SetVisible(true);
this->cgVisual->SetMaterial("Gazebo/Red");
this->cgVisual->SetCastShadows(false);
+ this->cgVisual->SetVisible(true);
std::map< std::string, Geom* >::iterator giter;
@@ -382,7 +382,6 @@
line->AddPoint(giter->second->GetRelativePose().pos);
}
- this->cgVisual->SetVisible(false);
}
}
@@ -481,10 +480,11 @@
std::map<std::string, Geom*>::iterator iter;
this->mass.Reset();
- for (iter = this->geoms.begin(); iter != this->geoms.end(); iter++)
- {
- this->mass += iter->second->GetMass();
- }
+ if (**this->customMassMatrixP)
+ this->mass = this->customMass;
+ else
+ for (iter = this->geoms.begin(); iter != this->geoms.end(); iter++)
+ this->mass += iter->second->GetMass();
// Translate all the geoms so that the CoG is at (0,0,0) in the body
// frame
Modified: code/gazebo/trunk/server/physics/ode/ODEBody.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEBody.cc 2009-11-05 19:07:19 UTC
(rev 8372)
+++ code/gazebo/trunk/server/physics/ode/ODEBody.cc 2009-11-05 22:39:29 UTC
(rev 8373)
@@ -329,10 +329,14 @@
dMass odeMass;
dMassSetZero(&odeMass);
- Vector3 cog = this->customMass.GetCoG();
+ // The CoG must always be (0,0,0)
+ Vector3 cog;
+
Vector3 principals = this->customMass.GetPrincipalMoments();
Vector3 products = this->customMass.GetProductsofInertia();
+ std::cout << "Custom Mass[" << this->customMass << "]\n";
+
dMassSetParameters(&odeMass, this->customMass.GetAsDouble(),
cog.x, cog.y, cog.z,
principals.x, principals.y, principals.z,
@@ -344,8 +348,6 @@
this->physicsEngine->ConvertMass(&this->mass, &odeMass);
this->physicsEngine->UnlockMutex();
-
- this->cgVisual->SetPosition(cog);
}
else
{
Added: code/gazebo/trunk/worlds/coffee_cup.world
===================================================================
--- code/gazebo/trunk/worlds/coffee_cup.world (rev 0)
+++ code/gazebo/trunk/worlds/coffee_cup.world 2009-11-05 22:39:29 UTC (rev
8373)
@@ -0,0 +1,100 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
+
+ <verbosity>1</verbosity>
+
+ <physics:ode>
+ <stepTime>0.0001</stepTime>
+ <gravity>0 0 -9.80665</gravity>
+ <cfm>10e-8</cfm>
+ <erp>0.3</erp>
+ <quickStep>true</quickStep>
+ <quickStepIters>50</quickStepIters>
+ <quickStepW>1.3</quickStepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>
+
+ <updateRate>0</updateRate>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>0.1 0.1 0.1 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <grid>false</grid>
+ </rendering:ogre>
+
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>2000 2000</size>
+ <segments>10 10</segments>
+ <uvTile>1000 1000</uvTile>
+ <material>Gazebo/GrayGrid</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <model:physical name="coffee_cup">
+ <xyz>0 0 1.0</xyz>
+ <rpy>90 0 0</rpy>
+ <static>false</static>
+ <body:trimesh name="coffee_cup_body">
+ <geom:trimesh name="coffee_cup_geom">
+ <mesh>cup.mesh</mesh>
+ <scale>.1 .1 .1</scale>
+ <mass>0.1</mass>
+
+ <visual>
+ <scale>.1 .1 .1</scale>
+ <mesh>cup.mesh</mesh>
+ <material>Gazebo/PioneerBody</material>
+ </visual>
+ </geom:trimesh>
+ </body:trimesh>
+ </model:physical>
+
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>0 0 10</xyz>
+ <static>true</static>
+
+ <light>
+ <castShadows>false</castShadows>
+ <type>point</type>
+ <diffuseColor>0.5 0.48 0.5</diffuseColor>
+ <specularColor>.1 .1 .1</specularColor>
+ <range>50</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.1 0.01 0.00</attenuation>
+ </light>
+ </model:renderable>
+
+
+</gazebo:world>
Added: code/gazebo/trunk/worlds/cog.world
===================================================================
--- code/gazebo/trunk/worlds/cog.world (rev 0)
+++ code/gazebo/trunk/worlds/cog.world 2009-11-05 22:39:29 UTC (rev 8373)
@@ -0,0 +1,125 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
+
+ <verbosity>5</verbosity>
+
+ <physics:ode>
+ <stepTime>0.00001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>10e-2</cfm>
+ <erp>0.2</erp>
+ <updateRate>0</updateRate>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>1024 768</size>
+ <pos>0 0</pos>
+ <frames>
+ <row height="100%">
+ <camera width="100%">
+ <xyz>-3.15 4 2.55</xyz>
+ <rpy>0 15 -55.1</rpy>
+ </camera>
+ </row>
+ </frames>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>.1 .1 .1 1</ambient>
+ <sky>
+ <material>Gazebo/Grey</material>
+ </sky>
+ <shadowTechnique>stencilAdditive</shadowTechnique>
+ <grid>false</grid>
+ </rendering:ogre>
+
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body:plane name="plane1_body">
+ <geom:plane name="plane1_geom">
+ <normal>0 0 1</normal>
+ <size>100 100</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/GrayGrid</material>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <model:physical name="base_model">
+ <xyz>0 0 0.1</xyz>
+
+ <!-- Bottom & Upright of the pendulum -->
+ <body:box name="base_body">
+ <massMatrix>true</massMatrix>
+ <cx>1.0</cx>
+ <cy>0.0</cy>
+ <cz>1.0</cz>
+ <ixx>0.1</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>1.1</iyy>
+ <iyz>0.0</iyz>
+ <izz>0.1</izz>
+ <mass>1.0</mass>
+ <geom:box name="upright_geom">
+ <xyz>0 0 1.1</xyz>
+ <size>0.2 0.2 2.0</size>
+ <mass>0.2</mass>
+ <visual>
+ <scale>0.2 0.2 2.0</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Red</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:renderable name="point_white">
+ <xyz>-1 -1 10</xyz>
+ <static>true</static>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>.1 .1 .1</specularColor>
+ <range>20</range>
+
+ <attenuation>0.5 0.01 0.001</attenuation>
+ </light>
+ </model:renderable>
+
+ <model:renderable name="point_white2">
+ <xyz>-1 2 10</xyz>
+ <static>true</static>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.2 0.2 0.2</diffuseColor>
+ <specularColor>.1 .1 .1</specularColor>
+ <range>20</range>
+
+ <attenuation>0.5 0.01 0.001</attenuation>
+ <castShadows>false</castShadows>
+ </light>
+ </model:renderable>
+
+</gazebo:world>
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