Revision: 8383
http://playerstage.svn.sourceforge.net/playerstage/?rev=8383&view=rev
Author: natepak
Date: 2009-11-10 19:17:03 +0000 (Tue, 10 Nov 2009)
Log Message:
-----------
Removed some cout's and added in contact feedback
Modified Paths:
--------------
code/gazebo/trunk/server/MeshManager.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/STLLoader.cc
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/worlds/simpleshapes.world
Modified: code/gazebo/trunk/server/MeshManager.cc
===================================================================
--- code/gazebo/trunk/server/MeshManager.cc 2009-11-10 18:27:01 UTC (rev
8382)
+++ code/gazebo/trunk/server/MeshManager.cc 2009-11-10 19:17:03 UTC (rev
8383)
@@ -71,6 +71,7 @@
iter!=gazeboPaths.end(); ++iter)
{
fullname = (*iter)+"/Media/models/"+filename;
+ //std::cout << "FullName[" << fullname << "]\n";
if (stat(fullname.c_str(), &st) == 0)
{
found = true;
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-11-10 18:27:01 UTC (rev 8382)
+++ code/gazebo/trunk/server/Model.cc 2009-11-10 19:17:03 UTC (rev 8383)
@@ -852,6 +852,7 @@
gzthrow( "can't have two joint with the same name");
this->joints.push_back( joint );
+
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/STLLoader.cc
===================================================================
--- code/gazebo/trunk/server/STLLoader.cc 2009-11-10 18:27:01 UTC (rev
8382)
+++ code/gazebo/trunk/server/STLLoader.cc 2009-11-10 19:17:03 UTC (rev
8383)
@@ -32,8 +32,6 @@
FILE *file = fopen(filename.c_str(), "r");
- std::cout << "SLT Load\n";
-
/*if (extension == "stl" || extension == "stla")
this->ReadAscii(file, mesh);
else if (extension == "stlb")
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-11-10 18:27:01 UTC (rev
8382)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-11-10 19:17:03 UTC (rev
8383)
@@ -369,7 +369,6 @@
this->cgVisual->AttachMesh("body_cg");
this->cgVisual->SetMaterial("Gazebo/Red");
this->cgVisual->SetCastShadows(false);
- this->cgVisual->SetVisible(false);
std::map< std::string, Geom* >::iterator giter;
@@ -383,6 +382,7 @@
line->AddPoint(giter->second->GetRelativePose().pos);
}
+ this->cgVisual->SetVisible(false);
}
}
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-10 18:27:01 UTC
(rev 8382)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-10 19:17:03 UTC
(rev 8383)
@@ -80,9 +80,8 @@
// If auto-disable is active, then user interaction with the joints
// doesn't behave properly
- /*dWorldSetAutoDisableFlag(this->worldId, 1);
+ dWorldSetAutoDisableFlag(this->worldId, 1);
dWorldSetAutoDisableTime(this->worldId, 2.0);
- */
Param::Begin(&this->parameters);
this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
@@ -94,10 +93,10 @@
this->contactSurfaceLayerP = new ParamT<double>("contactSurfaceLayer", 0.01,
0);
Param::End();
- //this->contactFeedbacks.resize(100);
+ this->contactFeedbacks.resize(100);
// Reset the contact pointer
- //this->contactFeedbackIter = this->contactFeedbacks.begin();
+ this->contactFeedbackIter = this->contactFeedbacks.begin();
}
@@ -204,7 +203,7 @@
// Process all the contacts, get the feedback info, and call the geom
// callbacks
- /*for (std::vector<ContactFeedback>::iterator iter =
+ for (std::vector<ContactFeedback>::iterator iter =
this->contactFeedbacks.begin();
iter != this->contactFeedbackIter; iter++)
{
@@ -226,9 +225,7 @@
// Reset the contact pointer
this->contactFeedbackIter = this->contactFeedbacks.begin();
- */
- //usleep(1000000);
#ifdef TIMING
double tmpT2 = Simulator::Instance()->GetWallTime();
std::cout << " Collision DT (" << tmpT2-tmpT1 << ")" << std::endl;
@@ -237,49 +234,20 @@
////////////////////////////////////////////////////////////////////////////////
// Update the ODE engine
-// void ODEPhysics::UpdatePhysics()
-// {
-// #ifdef TIMING
-// double tmpT1 = Simulator::Instance()->GetWallTime();
-// #endif
-//
-// // Update the dynamical model
-// if (this->quickStepP->GetValue())
-// dWorldQuickStep(this->worldId, this->stepTimeP->GetValue() );
-// else
-// dWorldStep( this->worldId, this->stepTimeP->GetValue() );
-//
-// #ifdef TIMING
-// double tmpT3 = Simulator::Instance()->GetWallTime();
-// std::cout << " ODE step DT (" << tmpT3-tmpT1 << ")" << std::endl;
-// //std::cout << " Physics Total DT (" << tmpT3-tmpT1 << ")" << std::endl;
-// #endif
-//
-// // Very important to clear out the contact group
-// dJointGroupEmpty( this->contactGroup );
-//
-// }
-
-////////////////////////////////////////////////////////////////////////////////
-// Update the ODE engine
void ODEPhysics::UpdatePhysics()
{
#ifdef TIMING
double tmpT1 = Simulator::Instance()->GetWallTime();
#endif
- this->LockMutex();
this->UpdateCollision();
- // Do collision detection; this will add contacts to the contact group
- //dSpaceCollide( this->spaceId, this, CollisionCallback );
-
- //usleep(1000000);
#ifdef TIMING
double tmpT2 = Simulator::Instance()->GetWallTime();
std::cout << " Collision DT (" << tmpT2-tmpT1 << ")" << std::endl;
#endif
+ this->LockMutex();
// Update the dynamical model
if (this->quickStepP->GetValue())
dWorldQuickStep(this->worldId, this->stepTimeP->GetValue() );
@@ -544,7 +512,7 @@
dJointID c = dJointCreateContact (self->worldId,
self->contactGroup, &contact);
- /*if (self->contactFeedbackIter == self->contactFeedbacks.end())
+ if (self->contactFeedbackIter == self->contactFeedbacks.end())
{
self->contactFeedbacks.resize( self->contactFeedbacks.size() + 100);
fprintf(stderr, "Resize\n");
@@ -554,7 +522,6 @@
(*self->contactFeedbackIter).geom2 = geom2;
dJointSetFeedback(c, &(*self->contactFeedbackIter).feedback);
self->contactFeedbackIter++;
- */
dJointAttach (c,b1,b2);
}
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2009-11-10 18:27:01 UTC (rev
8382)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2009-11-10 19:17:03 UTC (rev
8383)
@@ -17,8 +17,13 @@
<physics:bullet>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
- <cfm>10e-2</cfm>
+ <cfm>10e-10</cfm>
<erp>0.2</erp>
+ <quickStep>true</quickStep>
+ <quickStepIters>50</quickStepIters>
+ <quickStepW>1.3</quickStepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>
<!-- updateRate: <0 == throttle simTime to match realTime.
0 == No throttling
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