Update of /cvsroot/playerstage/code/gazebo/server/models/Pioneer2DX
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11506/models/Pioneer2DX
Modified Files:
Tag: ogre
Pioneer2DX.cc
Log Message:
Updates to ogre integration
Index: Pioneer2DX.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/gazebo/server/models/Pioneer2DX/Pioneer2DX.cc,v
retrieving revision 1.36
retrieving revision 1.36.2.1
diff -C2 -d -r1.36 -r1.36.2.1
*** Pioneer2DX.cc 2 Dec 2005 16:26:51 -0000 1.36
--- Pioneer2DX.cc 11 Aug 2006 00:29:46 -0000 1.36.2.1
***************
*** 223,242 ****
double casterMass = 5.0;
! GzVector bodySize = GzVectorSet(0.380, 0.270, 0.170);
! GzVector bodyPos = GzVectorSet(-0.050, 0, -0.170/2);
! GzVector topSize = GzVectorSet(0.450, 0.380, 0.005);
! GzVector topPos = GzVectorSet(-0.050, 0, 0);
! GzVector wheelSize = GzVectorSet(this->wheelDiam, this->wheelDiam, 0.05);
! GzVector wheelPos = GzVectorSet(0, this->wheelSep/2, -0.145);
GzVector casterSize = GzVectorSet(0.08, 0.08, 0.08);
! GzVector casterPos = GzVectorSet(-0.220, 0, wheelPos.z - wheelSize.x/2 +
casterSize.x/2);
// Create the main chassis of the robot
this->chassis = new Body( this->world );
geom = new BoxGeom(this->chassis, this->modelSpaceId, bodySize.x,
bodySize.y, bodySize.z);
geom->SetRelativePosition( GzVectorSet(bodyPos.x, bodyPos.y, bodyPos.z) );
geom->SetMass( mass );
--- 223,245 ----
double casterMass = 5.0;
! GzVector bodySize = GzVectorSet(0.380, 0.170, 0.270);
! GzVector bodyPos = GzVectorSet(-0.050, 0, 0);
! GzVector topSize = GzVectorSet(0.450,0.005, 0.380);
! GzVector topPos = GzVectorSet(-0.050, 0.170, 0);
! GzVector wheelSize = GzVectorSet(this->wheelDiam, this->wheelDiam, 0.2);
! GzVector wheelPos = GzVectorSet(0,-0.145,this->wheelSep/2);
GzVector casterSize = GzVectorSet(0.08, 0.08, 0.08);
! GzVector casterPos = GzVectorSet(-0.220, wheelPos.z - wheelSize.x/2 +
casterSize.x/2, 0);
// Create the main chassis of the robot
this->chassis = new Body( this->world );
+ this->AddBody( this->chassis, true );
+
geom = new BoxGeom(this->chassis, this->modelSpaceId, bodySize.x,
bodySize.y, bodySize.z);
+
geom->SetRelativePosition( GzVectorSet(bodyPos.x, bodyPos.y, bodyPos.z) );
geom->SetMass( mass );
***************
*** 248,252 ****
geom->SetColor( GzColor(0, 0, 0) );
- this->AddBody( this->chassis, true );
// Create the wheels
--- 251,254 ----
***************
*** 254,270 ****
{
this->wheels[i] = new Body( this->world );
! geom = new WheelGeom(this->wheels[i], this->modelSpaceId, 0.5 *
wheelSize.x, wheelSize.z);
geom->SetRelativePosition( GzVectorSet(0, 0, 0) );
geom->SetMass( 0.5 );
geom->SetColor( GzColor(0.1, 0.1, 0.1) );
- this->AddBody( this->wheels[i] );
}
!
// Set the wheel positions
! this->wheels[0]->SetPosition(GzVectorSet(wheelPos.x, +wheelPos.y,
wheelPos.z));
! this->wheels[0]->SetRotation(GzQuaternFromAxis(1, 0, 0, -M_PI / 2));
! this->wheels[1]->SetPosition(GzVectorSet(wheelPos.x, -wheelPos.y,
wheelPos.z));
! this->wheels[1]->SetRotation(GzQuaternFromAxis(1, 0, 0, +M_PI / 2));
// Attach the wheels to the chassis at their current positions
--- 256,272 ----
{
this->wheels[i] = new Body( this->world );
+ this->AddBody( this->wheels[i] );
! geom = new WheelGeom(this->wheels[i], this->modelSpaceId, wheelSize.x,
wheelSize.z );
geom->SetRelativePosition( GzVectorSet(0, 0, 0) );
geom->SetMass( 0.5 );
geom->SetColor( GzColor(0.1, 0.1, 0.1) );
}
!
// Set the wheel positions
! this->wheels[0]->SetPosition(GzVectorSet(wheelPos.x, +wheelPos.z,
wheelPos.y));
! //this->wheels[0]->SetRotation(GzQuaternFromAxis(1, 0, 0, -M_PI / 2));
! this->wheels[1]->SetPosition(GzVectorSet(wheelPos.x, -wheelPos.z,
wheelPos.y));
! //this->wheels[1]->SetRotation(GzQuaternFromAxis(1, 0, 0, +M_PI / 2));
// Attach the wheels to the chassis at their current positions
***************
*** 275,279 ****
a = wheels[i]->GetPosition();
this->wheelJoints[i]->SetAnchor( a );
! this->wheelJoints[i]->SetAxis( GzVectorSet(0, 1, 0) );
this->wheelJoints[i]->SetParam( dParamSuspensionERP, 0.4 );
this->wheelJoints[i]->SetParam( dParamSuspensionCFM, 0.8 );
--- 277,281 ----
a = wheels[i]->GetPosition();
this->wheelJoints[i]->SetAnchor( a );
! this->wheelJoints[i]->SetAxis( GzVectorSet(0, 0, 1) );
this->wheelJoints[i]->SetParam( dParamSuspensionERP, 0.4 );
this->wheelJoints[i]->SetParam( dParamSuspensionCFM, 0.8 );
***************
*** 282,285 ****
--- 284,289 ----
// Create the castor wheel
this->castorWheel = new Body(this->world);
+ this->AddBody(this->castorWheel);
+
geom = new SphereGeom(this->castorWheel, this->modelSpaceId,
casterSize.x/2);
geom->SetRelativePosition( GzVectorSet(0, 0, 0) );
***************
*** 289,293 ****
this->castorWheel->SetPosition(casterPos);
this->castorWheel->SetRotation(GzQuaternFromEuler(M_PI / 2, 0, 0));
- this->AddBody(this->castorWheel);
// Attach the castor to the chassis
--- 293,296 ----
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