Revision: 8374
http://playerstage.svn.sourceforge.net/playerstage/?rev=8374&view=rev
Author: natepak
Date: 2009-11-05 23:12:35 +0000 (Thu, 05 Nov 2009)
Log Message:
-----------
Fixed another bug with custom COM
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/worlds/cog.world
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-11-05 22:39:29 UTC (rev
8373)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-11-05 23:12:35 UTC (rev
8374)
@@ -190,12 +190,6 @@
childNode = childNode->GetNextByNSPrefix("geom");
}
- // update mass CoM if using customMassMatrix
- if (**this->customMassMatrixP)
- {
- this->UpdateCoM();
- }
-
childNode = node->GetChildByNSPrefix("sensor");
// Load the sensors
Modified: code/gazebo/trunk/worlds/cog.world
===================================================================
--- code/gazebo/trunk/worlds/cog.world 2009-11-05 22:39:29 UTC (rev 8373)
+++ code/gazebo/trunk/worlds/cog.world 2009-11-05 23:12:35 UTC (rev 8374)
@@ -64,8 +64,26 @@
</body:plane>
</model:physical>
+ <model:physical name="test">
+ <static>true</static>
+ <xyz>2.0 0 3.1</xyz>
+
+ <body:box name="base_body1">
+ <geom:box name="geom">
+ <size>0.1 0.1 0.1</size>
+ <mass>0.2</mass>
+ <visual>
+ <scale>0.1 0.1 0.1</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Green</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
<model:physical name="base_model">
- <xyz>0 0 0.1</xyz>
+ <xyz>0 0 1.1</xyz>
<!-- Bottom & Upright of the pendulum -->
<body:box name="base_body">
@@ -76,12 +94,12 @@
<ixx>0.1</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
- <iyy>1.1</iyy>
+ <iyy>0.216</iyy>
<iyz>0.0</iyz>
<izz>0.1</izz>
<mass>1.0</mass>
<geom:box name="upright_geom">
- <xyz>0 0 1.1</xyz>
+ <xyz>0 0 0</xyz>
<size>0.2 0.2 2.0</size>
<mass>0.2</mass>
<visual>
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