Revision: 8611
http://playerstage.svn.sourceforge.net/playerstage/?rev=8611&view=rev
Author: natepak
Date: 2010-04-12 14:31:26 +0000 (Mon, 12 Apr 2010)
Log Message:
-----------
Fixed the auto-disable so that moving joints causes the bodies to re-enable, in
ODE
Modified Paths:
--------------
code/gazebo/trunk/player_cfgs/gazebo.cfg
code/gazebo/trunk/server/physics/ode/ODEHinge2Joint.cc
code/gazebo/trunk/server/physics/ode/ODEHingeJoint.cc
code/gazebo/trunk/server/physics/ode/ODEJoint.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODESliderJoint.cc
code/gazebo/trunk/server/physics/ode/ODEUniversalJoint.cc
Modified: code/gazebo/trunk/player_cfgs/gazebo.cfg
===================================================================
--- code/gazebo/trunk/player_cfgs/gazebo.cfg 2010-04-12 14:29:07 UTC (rev
8610)
+++ code/gazebo/trunk/player_cfgs/gazebo.cfg 2010-04-12 14:31:26 UTC (rev
8611)
@@ -15,14 +15,14 @@
(
name "gazebo"
provides ["position2d:0"]
- gz_id "position_iface_0"
+ gz_id "pioneer2dx_model1::position_iface_0"
)
driver
(
name "gazebo"
provides ["laser:0"]
- gz_id "laser_iface_0"
+ gz_id "pioneer2dx_model1::laser::laser_iface_0"
)
driver
@@ -42,12 +42,12 @@
weight_current_dir 3.0
)
-driver
-(
- name "gazebo"
- provides ["fiducial:0"]
- gz_id "fiducial_iface_0"
-)
+#driver
+#(
+# name "gazebo"
+# provides ["fiducial:0"]
+# gz_id "fiducial_iface_0"
+#)
#driver
#(
Modified: code/gazebo/trunk/server/physics/ode/ODEHinge2Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEHinge2Joint.cc 2010-04-12
14:29:07 UTC (rev 8610)
+++ code/gazebo/trunk/server/physics/ode/ODEHinge2Joint.cc 2010-04-12
14:31:26 UTC (rev 8611)
@@ -24,6 +24,7 @@
* CVS: $Id: ODEHinge2Joint.cc 7129 2008-11-12 19:38:15Z natepak $
*/
+#include "Body.hh"
#include "Global.hh"
#include "XMLConfig.hh"
#include "ODEHinge2Joint.hh"
@@ -90,6 +91,8 @@
void ODEHinge2Joint::SetAnchor( int /*index*/, const Vector3 &anchor )
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
dJointSetHinge2Anchor( this->jointId, anchor.x, anchor.y, anchor.z );
this->physics->UnlockMutex();
}
@@ -99,6 +102,9 @@
void ODEHinge2Joint::SetAxis( int index, const Vector3 &axis )
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
+
if (index == 0)
dJointSetHinge2Axis1( this->jointId, axis.x, axis.y, axis.z );
else
@@ -187,6 +193,9 @@
void ODEHinge2Joint::SetForce(int index, double torque)
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
+
if (index == 0)
dJointAddHinge2Torques(this->jointId, torque, 0);
else
@@ -210,6 +219,7 @@
void ODEHinge2Joint::SetParam( int parameter, double value)
{
this->physics->LockMutex();
+ ODEJoint::SetParam(parameter, value);
dJointSetHinge2Param( this->jointId, parameter, value );
this->physics->UnlockMutex();
}
Modified: code/gazebo/trunk/server/physics/ode/ODEHingeJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEHingeJoint.cc 2010-04-12
14:29:07 UTC (rev 8610)
+++ code/gazebo/trunk/server/physics/ode/ODEHingeJoint.cc 2010-04-12
14:31:26 UTC (rev 8611)
@@ -76,6 +76,9 @@
void ODEHingeJoint::SetAnchor( int /*index*/, const Vector3 &anchor )
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
+
dJointSetHingeAnchor( this->jointId, anchor.x, anchor.y, anchor.z );
this->physics->UnlockMutex();
}
@@ -99,6 +102,9 @@
void ODEHingeJoint::SetAxis( int /*index*/, const Vector3 &axis )
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
+
dJointSetHingeAxis( this->jointId, axis.x, axis.y, axis.z );
this->physics->UnlockMutex();
}
@@ -151,6 +157,8 @@
void ODEHingeJoint::SetForce(int /*index*/, double torque)
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
dJointAddHingeTorque( this->jointId, torque );
this->physics->UnlockMutex();
}
@@ -171,6 +179,8 @@
void ODEHingeJoint::SetParam( int parameter, double value)
{
this->physics->LockMutex();
+ ODEJoint::SetParam(parameter, value);
+
dJointSetHingeParam( this->jointId, parameter, value );
this->physics->UnlockMutex();
}
Modified: code/gazebo/trunk/server/physics/ode/ODEJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEJoint.cc 2010-04-12 14:29:07 UTC
(rev 8610)
+++ code/gazebo/trunk/server/physics/ode/ODEJoint.cc 2010-04-12 14:31:26 UTC
(rev 8611)
@@ -157,6 +157,8 @@
// where appropriate
void ODEJoint::SetParam(int /*parameter*/, double /*value*/)
{
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-04-12 14:29:07 UTC
(rev 8610)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-04-12 14:31:26 UTC
(rev 8611)
@@ -471,8 +471,11 @@
int numc = 0;
dContact contact;
- if (geom1->GetType() == Shape::TRIMESH && geom2->GetType()==Shape::TRIMESH)
+ if (geom1->GetShapeType() == Shape::TRIMESH &&
+ geom2->GetShapeType()==Shape::TRIMESH)
+ {
numContacts = maxContacts;
+ }
numc = dCollide(o1,o2,numContacts, self->contactGeoms,
sizeof(self->contactGeoms[0]));
Modified: code/gazebo/trunk/server/physics/ode/ODESliderJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODESliderJoint.cc 2010-04-12
14:29:07 UTC (rev 8610)
+++ code/gazebo/trunk/server/physics/ode/ODESliderJoint.cc 2010-04-12
14:31:26 UTC (rev 8611)
@@ -24,6 +24,7 @@
* CVS: $Id: ODESliderJoint.cc 7039 2008-09-24 18:06:29Z natepak $
*/
+#include "Body.hh"
#include "XMLConfig.hh"
#include "ODESliderJoint.hh"
@@ -96,6 +97,9 @@
void ODESliderJoint::SetAxis( int /*index*/, const Vector3 &axis )
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
+
dJointSetSliderAxis( this->jointId, axis.x, axis.y, axis.z );
this->physics->UnlockMutex();
}
@@ -105,6 +109,9 @@
void ODESliderJoint::SetForce(int /*index*/, double force)
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
+
dJointAddSliderForce(this->jointId, force);
this->physics->UnlockMutex();
}
@@ -114,6 +121,7 @@
void ODESliderJoint::SetParam( int parameter, double value )
{
this->physics->LockMutex();
+ ODEJoint::SetParam(parameter, value);
dJointSetSliderParam( this->jointId, parameter, value );
this->physics->UnlockMutex();
}
Modified: code/gazebo/trunk/server/physics/ode/ODEUniversalJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEUniversalJoint.cc 2010-04-12
14:29:07 UTC (rev 8610)
+++ code/gazebo/trunk/server/physics/ode/ODEUniversalJoint.cc 2010-04-12
14:31:26 UTC (rev 8611)
@@ -24,6 +24,7 @@
* CVS: $Id: ODEUniversalJoint.cc 7039 2008-09-24 18:06:29Z natepak $
*/
+#include "Body.hh"
#include "ODEUniversalJoint.hh"
using namespace gazebo;
@@ -59,6 +60,9 @@
void ODEUniversalJoint::SetAnchor( int /*index*/, const Vector3 &anchor )
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
+
dJointSetUniversalAnchor( this->jointId, anchor.x, anchor.y, anchor.z );
this->physics->UnlockMutex();
}
@@ -84,6 +88,10 @@
void ODEUniversalJoint::SetAxis( int index, const Vector3 &axis )
{
this->physics->LockMutex();
+
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
+
if (index == 0)
dJointSetUniversalAxis1( this->jointId, axis.x, axis.y, axis.z );
else
@@ -136,6 +144,8 @@
void ODEUniversalJoint::SetForce(int index, double torque)
{
this->physics->LockMutex();
+ this->body1->SetEnabled(true);
+ this->body2->SetEnabled(true);
if (index == 0)
dJointAddUniversalTorques( this->jointId, torque, 0);
else
@@ -168,6 +178,7 @@
void ODEUniversalJoint::SetParam( int parameter, double value)
{
this->physics->LockMutex();
+ ODEJoint::SetParam(parameter, value);
dJointSetUniversalParam( this->jointId, parameter, value );
this->physics->UnlockMutex();
}
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