Revision: 6967
http://playerstage.svn.sourceforge.net/playerstage/?rev=6967&view=rev
Author: natepak
Date: 2008-08-20 22:26:19 +0000 (Wed, 20 Aug 2008)
Log Message:
-----------
Added patch 2035591 from razorunreal
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Joint.cc
code/gazebo/trunk/server/physics/Joint.hh
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2008-08-20 22:19:04 UTC (rev
6966)
+++ code/gazebo/trunk/server/physics/Joint.cc 2008-08-20 22:26:19 UTC (rev
6967)
@@ -43,6 +43,7 @@
this->nameP = new Param<std::string>("name","",1);
this->erpP = new Param<double>("erp",0.4,0);
this->cfmP = new Param<double>("cfm",0.8,0);
+ this->suspensionCfmP = new Param<double>("suspensionCfm",0.0,0);
this->body1NameP = new Param<std::string>("body1",std::string(),1);
this->body2NameP = new Param<std::string>("body2",std::string(),1);
this->anchorBodyNameP = new Param<std::string>("anchor",std::string(),0);
@@ -58,6 +59,7 @@
delete this->nameP;
delete this->erpP;
delete this->cfmP;
+ delete this->suspensionCfmP;
delete this->body1NameP;
delete this->body2NameP;
delete this->anchorBodyNameP;
@@ -114,7 +116,8 @@
// Set joint parameters
this->SetParam(dParamSuspensionERP, **(this->erpP));
- this->SetParam(dParamSuspensionCFM, **(this->erpP));
+ this->SetParam(dParamSuspensionCFM, **(this->suspensionCfmP));
+ this->SetParam(dParamCFM, **(this->cfmP));
/// Add a renderable for the joint
this->visual = new OgreVisual(this->model->GetVisualNode());
@@ -160,6 +163,7 @@
stream << prefix << " " << *(this->erpP) << "\n";
stream << prefix << " " << *(this->cfmP) << "\n";
+ stream << prefix << " " << *(this->suspensionCfmP) << "\n";
std::string p = prefix + " ";
this->SaveChild(p,stream);
Modified: code/gazebo/trunk/server/physics/Joint.hh
===================================================================
--- code/gazebo/trunk/server/physics/Joint.hh 2008-08-20 22:19:04 UTC (rev
6966)
+++ code/gazebo/trunk/server/physics/Joint.hh 2008-08-20 22:26:19 UTC (rev
6967)
@@ -153,6 +153,7 @@
private: Param<std::string> *nameP;
private: Param<double> *erpP;
private: Param<double> *cfmP;
+ private: Param<double> *suspensionCfmP;
private: Param<std::string> *body1NameP;
private: Param<std::string> *body2NameP;
private: Param<std::string> *anchorBodyNameP;
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