Revision: 8432
http://playerstage.svn.sourceforge.net/playerstage/?rev=8432&view=rev
Author: natepak
Date: 2009-11-22 00:28:04 +0000 (Sun, 22 Nov 2009)
Log Message:
-----------
Added timestamp to contact feedback
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Contact.hh
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/trunk/server/physics/Contact.hh
===================================================================
--- code/gazebo/trunk/server/physics/Contact.hh 2009-11-21 23:43:09 UTC (rev
8431)
+++ code/gazebo/trunk/server/physics/Contact.hh 2009-11-22 00:28:04 UTC (rev
8432)
@@ -67,6 +67,8 @@
public: std::vector<Vector3> normals;
public: std::vector<double> depths;
+
+ public: double time;
};
}
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-21 23:43:09 UTC
(rev 8431)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-22 00:28:04 UTC
(rev 8432)
@@ -543,7 +543,8 @@
(*self->contactFeedbackIter).contact.normals.push_back(
Vector3(contact.geom.normal[0], contact.geom.normal[1],
contact.geom.normal[2]) );
-
+ (*self->contactFeedbackIter).contact.time =
+ Simulator::Instance()->GetSimTime();
dJointSetFeedback(c, &((*self->contactFeedbackIter).feedbacks[i]));
dJointAttach (c,b1,b2);
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