Revision: 8871
http://playerstage.svn.sourceforge.net/playerstage/?rev=8871&view=rev
Author: hsujohnhsu
Date: 2010-09-02 01:38:44 +0000 (Thu, 02 Sep 2010)
Log Message:
-----------
* keep support for tick-tock quickStep(stepType), quickStepIters(stepIters),
quickStepW(stepW) but give warnings.
* simplify ODE contact mode to inelastic soft and approx1
Modified Paths:
--------------
code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/wg/server/physics/ode/ODEPhysics.hh
Modified: code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc 2010-09-02
01:36:24 UTC (rev 8870)
+++ code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc 2010-09-02
01:38:44 UTC (rev 8871)
@@ -98,11 +98,19 @@
this->autoDisableBodyP = new ParamT<bool>("autoDisableBody", false, 0);
this->contactFeedbacksP = new ParamT<int>("contactFeedbacks", 100, 0); //
just an initial value, appears to get resized if limit is breached
this->maxContactsP = new ParamT<int>("maxContacts",1000,0); // enforced for
trimesh-trimesh contacts
+
+ /// \brief @todo: for backwards compatibility, should tick tock
+ /// deprecation as we switch to nested tags
+ this->quickStepP = new ParamT<bool> ("quickStep", false, 0, true,
"replace quickStep with stepType");
+ this->quickStepItersP = new ParamT<int> ("quickStepIters", -1, 0, true,
"replace quickStepIters with stepIters");
+ this->quickStepWP = new ParamT<double>("quickStepW", -1.0, 0, true,
"replace quickStepW with stepW");
+
Param::End();
}
+
////////////////////////////////////////////////////////////////////////////////
// Destructor
ODEPhysics::~ODEPhysics()
@@ -128,6 +136,12 @@
delete this->autoDisableBodyP;
delete this->contactFeedbacksP;
delete this->maxContactsP;
+
+ /// \brief @todo: for backwards compatibility, should tick tock
+ /// deprecation as we switch to nested tags
+ delete this->quickStepP;
+ delete this->quickStepItersP;
+ delete this->quickStepWP;
}
////////////////////////////////////////////////////////////////////////////////
@@ -153,6 +167,12 @@
this->contactFeedbacksP->Load(cnode);
this->maxContactsP->Load(cnode);
+ /// \brief @todo: for backwards compatibility, should tick tock
+ /// deprecation as we switch to nested tags
+ this->quickStepP->Load(cnode);
+ this->quickStepItersP->Load(cnode);
+ this->quickStepWP->Load(cnode);
+
// Help prevent "popping of deeply embedded object
dWorldSetContactMaxCorrectingVel(this->worldId,
contactMaxCorrectingVelP->GetValue());
@@ -182,6 +202,15 @@
dWorldSetQuickStepNumIterations(this->worldId, **this->stepItersP );
dWorldSetQuickStepW(this->worldId, **this->stepWP );
+
+
+ /// \brief @todo: for backwards compatibility, should tick tock
+ /// deprecation as we switch to nested tags
+ if (this->quickStepItersP->GetValue() > 0) // only set them if specified
+ dWorldSetQuickStepNumIterations(this->worldId, **this->quickStepItersP );
+ if (this->quickStepWP->GetValue() > 0) // only set them if specified
+ dWorldSetQuickStepW(this->worldId, **this->quickStepWP );
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -199,6 +228,11 @@
stream << prefix << " " << *(this->stepWP) << "\n";
stream << prefix << " " << *(this->contactMaxCorrectingVelP) << "\n";
stream << prefix << " " << *(this->contactSurfaceLayerP) << "\n";
+ /// \brief @todo: for backwards compatibility, should tick tock
+ /// deprecation as we switch to nested tags
+ stream << prefix << " " << *(this->quickStepP) << "\n";
+ stream << prefix << " " << *(this->quickStepItersP) << "\n";
+ stream << prefix << " " << *(this->quickStepWP) << "\n";
stream << prefix << "</physics:ode>\n";
}
@@ -358,7 +392,9 @@
//DiagnosticTimer timer("ODEPhysics Step Update");
// Update the dynamical model
- if (**this->stepTypeP == "quick")
+ /// \brief @todo: quickStepP used here for backwards compatibility,
+ /// should tick tock deprecation as we switch to nested tags
+ if (**this->stepTypeP == "quick" || **this->quickStepP == true)
dWorldQuickStep(this->worldId, (**this->stepTimeP).Double());
else if (**this->stepTypeP == "world")
dWorldStep( this->worldId, (**this->stepTimeP).Double() );
@@ -371,7 +407,6 @@
this->UnlockMutex();
}
-
////////////////////////////////////////////////////////////////////////////////
// Finilize the ODE engine
void ODEPhysics::Fini()
@@ -628,6 +663,10 @@
/// Get the step type
std::string ODEPhysics::GetStepType() const
{
+ /// \brief @todo: for backwards compatibility, should tick tock
+ /// deprecation as we switch to nested tags
+ if (**this->quickStepP) return "quick";
+
return **this->stepTypeP;
}
@@ -636,6 +675,10 @@
void ODEPhysics::SetStepType(const std::string type)
{
this->stepTypeP->SetValue(type);
+
+ /// \brief @todo: for backwards compatibility, should tick tock
+ /// deprecation as we switch to nested tags
+ this->quickStepP->SetValue(false); // use new tags
}
////////////////////////////////////////////////////////////////////////////////
@@ -721,11 +764,7 @@
continue;
contact.geom = self->contactGeoms[i];
- contact.surface.mode = dContactSlip1 | dContactSlip2 |
- dContactSoftERP | dContactSoftCFM |
- dContactBounce | dContactMu2 | dContactApprox1;
- //contact.surface.mode = dContactSoftERP | dContactSoftCFM |
dContactApprox1 | dContactSlip1 | dContactSlip2;
- // with dContactSoftERP | dContactSoftCFM the test_pr2_collision
overshoots the cup
+ contact.surface.mode = dContactSoftERP | dContactSoftCFM |
dContactApprox1;
// Compute the CFM and ERP by assuming the two bodies form a
// spring-damper system.
Modified: code/gazebo/branches/wg/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/branches/wg/server/physics/ode/ODEPhysics.hh 2010-09-02
01:36:24 UTC (rev 8870)
+++ code/gazebo/branches/wg/server/physics/ode/ODEPhysics.hh 2010-09-02
01:38:44 UTC (rev 8871)
@@ -200,6 +200,12 @@
private: ParamT<int> *contactFeedbacksP;
private: ParamT<int> *maxContactsP;
+ /// \brief @todo: for backwards compatibility, should tick tock
+ /// deprecation as we switch to nested tags
+ private: ParamT<bool> *quickStepP;
+ private: ParamT<int> *quickStepItersP;
+ private: ParamT<double> *quickStepWP;
+
private: class ContactFeedback
{
public: Contact contact;
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