Revision: 6974
http://playerstage.svn.sourceforge.net/playerstage/?rev=6974&view=rev
Author: natepak
Date: 2008-08-21 12:54:20 +0000 (Thu, 21 Aug 2008)
Log Message:
-----------
Minor updates to collision handling
Modified Paths:
--------------
code/gazebo/trunk/build.py
code/gazebo/trunk/server/Global.hh
code/gazebo/trunk/server/physics/ContactParams.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/trunk/build.py
===================================================================
--- code/gazebo/trunk/build.py 2008-08-20 23:56:26 UTC (rev 6973)
+++ code/gazebo/trunk/build.py 2008-08-21 12:54:20 UTC (rev 6974)
@@ -5,7 +5,7 @@
import os
import re
-version = '0.8-pre2'
+version = '0.8-pre3'
#
# Function used to test for ODE library, and TriMesh support
Modified: code/gazebo/trunk/server/Global.hh
===================================================================
--- code/gazebo/trunk/server/Global.hh 2008-08-20 23:56:26 UTC (rev 6973)
+++ code/gazebo/trunk/server/Global.hh 2008-08-21 12:54:20 UTC (rev 6974)
@@ -45,7 +45,7 @@
#endif
// TODO: Fix the version number
-#define GAZEBO_VERSION "0.8-pre2"
+#define GAZEBO_VERSION "0.8-pre3"
#ifndef GZ_COLLIDE_BITS
Modified: code/gazebo/trunk/server/physics/ContactParams.cc
===================================================================
--- code/gazebo/trunk/server/physics/ContactParams.cc 2008-08-20 23:56:26 UTC
(rev 6973)
+++ code/gazebo/trunk/server/physics/ContactParams.cc 2008-08-21 12:54:20 UTC
(rev 6974)
@@ -43,8 +43,8 @@
this->mu1 = dInfinity;
this->mu2 = dInfinity;
- this->slip1 = 0.01;
- this->slip2 = 0.01;
+ this->slip1 = 0.1;
+ this->slip2 = 0.1;
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-08-20 23:56:26 UTC
(rev 6973)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-08-21 12:54:20 UTC
(rev 6974)
@@ -256,8 +256,14 @@
{
double h, kp, kd;
+ // skip 0 depth contacts
+ if(contactGeoms[i].depth == 0)
+ continue;
+
contact.geom = contactGeoms[i];
- contact.surface.mode = dContactSoftERP | dContactBounce | dContactMu2
| dContactApprox1;
+ contact.surface.mode = dContactSlip1 | dContactSlip2 |
+ dContactSoftERP | dContactSoftCFM |
+ dContactBounce | dContactMu2 | dContactApprox1;
// Compute the CFM and ERP by assuming the two bodies form a
@@ -268,13 +274,19 @@
contact.surface.soft_erp = h * kp / (h * kp + kd);
contact.surface.soft_cfm = 1 / (h * kp + kd);
-
contact.surface.mu = MIN(geom1->contact->mu1, geom2->contact->mu1);
contact.surface.mu2 = MIN(geom1->contact->mu2, geom2->contact->mu2);
- contact.surface.bounce = 0.1;
- contact.surface.bounce_vel = 0.1;
- //contact.surface.soft_cfm = 0.01;
+ contact.surface.bounce = MIN(geom1->contact->bounce,
+ geom2->contact->bounce);
+ contact.surface.bounce_vel = MIN(geom1->contact->bounceVel,
+ geom2->contact->bounceVel);
+ contact.surface.slip1 = MIN(geom1->contact->slip1,
+ geom2->contact->slip1);
+ contact.surface.slip2 = MIN(geom1->contact->slip2,
+ geom2->contact->slip2);
+
+
dJointID c = dJointCreateContact (self->worldId,
self->contactGroup, &contact);
dJointAttach (c,b1,b2);
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