Revision: 8667
http://playerstage.svn.sourceforge.net/playerstage/?rev=8667&view=rev
Author: hsujohnhsu
Date: 2010-05-06 20:07:00 +0000 (Thu, 06 May 2010)
Log Message:
-----------
adding param for autodDisableBody and contactFeedbacks.
Modified Paths:
--------------
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-05-06 19:45:39 UTC
(rev 8666)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-05-06 20:07:00 UTC
(rev 8667)
@@ -79,14 +79,6 @@
this->contactGroup = dJointGroupCreate(0);
- // If auto-disable is active, then user interaction with the joints
- // doesn't behave properly
- dWorldSetAutoDisableFlag(this->worldId, 1);
- dWorldSetAutoDisableTime(this->worldId, 2.0);
- dWorldSetAutoDisableLinearThreshold(this->worldId, 0.001);
- dWorldSetAutoDisableAngularThreshold(this->worldId, 0.001);
- dWorldSetAutoDisableSteps(this->worldId, 50);
-
Param::Begin(&this->parameters);
this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
this->globalERPP = new ParamT<double>("erp", 0.2, 0);
@@ -95,12 +87,10 @@
this->quickStepWP = new ParamT<double>("quickStepW", 1.3, 0); ///
over_relaxation value for SOR
this->contactMaxCorrectingVelP = new
ParamT<double>("contactMaxCorrectingVel", 10.0, 0);
this->contactSurfaceLayerP = new ParamT<double>("contactSurfaceLayer", 0.01,
0);
+ this->autoDisableBodyP = new ParamT<bool>("autoDisableBody", false, 0);
+ this->contactFeedbacksP = new ParamT<int>("contactFeedbacks", 100, 0);
Param::End();
- this->contactFeedbacks.resize(100);
-
- // Reset the contact pointer
- this->contactFeedbackIter = this->contactFeedbacks.begin();
}
@@ -146,6 +136,8 @@
this->quickStepWP->Load(cnode);
this->contactMaxCorrectingVelP->Load(cnode);
this->contactSurfaceLayerP->Load(cnode);
+ this->autoDisableBodyP->Load(cnode);
+ this->contactFeedbacksP->Load(cnode);
// Help prevent "popping of deeply embedded object
dWorldSetContactMaxCorrectingVel(this->worldId,
contactMaxCorrectingVelP->GetValue());
@@ -153,6 +145,19 @@
// This helps prevent jittering problems.
dWorldSetContactSurfaceLayer(this->worldId,
contactSurfaceLayerP->GetValue());
+ // If auto-disable is active, then user interaction with the joints
+ // doesn't behave properly
+ // disable autodisable by default
+ dWorldSetAutoDisableFlag(this->worldId, this->autoDisableBodyP->GetValue());
+ dWorldSetAutoDisableTime(this->worldId, 2.0);
+ dWorldSetAutoDisableLinearThreshold(this->worldId, 0.001);
+ dWorldSetAutoDisableAngularThreshold(this->worldId, 0.001);
+ dWorldSetAutoDisableSteps(this->worldId, 50);
+
+ this->contactFeedbacks.resize(this->contactFeedbacksP->GetValue());
+
+ // Reset the contact pointer
+ this->contactFeedbackIter = this->contactFeedbacks.begin();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2010-05-06 19:45:39 UTC
(rev 8666)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2010-05-06 20:07:00 UTC
(rev 8667)
@@ -159,6 +159,8 @@
private: ParamT<double> *quickStepWP;
private: ParamT<double> *contactMaxCorrectingVelP;
private: ParamT<double> *contactSurfaceLayerP;
+ private: ParamT<bool> *autoDisableBodyP;
+ private: ParamT<int> *contactFeedbacksP;
private: class ContactFeedback
{
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