Revision: 8551
http://playerstage.svn.sourceforge.net/playerstage/?rev=8551&view=rev
Author: natepak
Date: 2010-02-11 19:18:35 +0000 (Thu, 11 Feb 2010)
Log Message:
-----------
Increased number of contact points, and adjusted auto-disable features
Modified Paths:
--------------
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-02-09 18:27:44 UTC
(rev 8550)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-02-11 19:18:35 UTC
(rev 8551)
@@ -82,7 +82,10 @@
// If auto-disable is active, then user interaction with the joints
// doesn't behave properly
dWorldSetAutoDisableFlag(this->worldId, 1);
- dWorldSetAutoDisableTime(this->worldId, 1.0);
+ dWorldSetAutoDisableTime(this->worldId, 2.0);
+ dWorldSetAutoDisableLinearThreshold(this->worldId, 0.001);
+ dWorldSetAutoDisableAngularThreshold(this->worldId, 0.001);
+ dWorldSetAutoDisableSteps(this->worldId, 20);
Param::Begin(&this->parameters);
this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
@@ -430,6 +433,7 @@
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
+
if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact))
return;
@@ -454,11 +458,10 @@
else
geom2 = (ODEGeom*) dGeomGetData(o2);
- int numContacts = 5;
+ int numContacts = 100;
if (geom1->GetType() == Shape::TRIMESH && geom2->GetType()==Shape::TRIMESH)
numContacts = maxContacts;
-
numc = dCollide(o1,o2,numContacts, contactGeoms, sizeof(contactGeoms[0]));
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