Revision: 6976
http://playerstage.svn.sourceforge.net/playerstage/?rev=6976&view=rev
Author: natepak
Date: 2008-08-22 18:19:44 +0000 (Fri, 22 Aug 2008)
Log Message:
-----------
Fixes to setting the joint axis
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/HingeJoint.cc
code/gazebo/trunk/server/physics/Joint.cc
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2008-08-21 22:07:55 UTC (rev
6975)
+++ code/gazebo/trunk/server/physics/Body.cc 2008-08-22 18:19:44 UTC (rev
6976)
@@ -102,10 +102,12 @@
this->nameP->Load(node);
this->xyzP->Load(node);
this->rpyP->Load(node);
+ Pose3d initPose;
- this->SetPosition(this->xyzP->GetValue());
- this->SetRotation(this->rpyP->GetValue());
+ initPose.pos = **(this->xyzP);
+ initPose.rot = **(this->rpyP);
+
childNode = node->GetChildByNSPrefix("geom");
// Load the geometries
@@ -132,6 +134,7 @@
this->SetGravityMode(false);
}
+ this->SetPose(initPose);
}
////////////////////////////////////////////////////////////////////////////////
@@ -268,6 +271,7 @@
for (iter = this->geoms.begin(); iter != this->geoms.end(); iter++)
{
+ //newPose = (*iter)->GetPose() - this->staticPose;
newPose = (*iter)->GetPose() - oldPose;
newPose += this->staticPose;
(*iter)->SetPose(newPose);
Modified: code/gazebo/trunk/server/physics/HingeJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/HingeJoint.cc 2008-08-21 22:07:55 UTC
(rev 6975)
+++ code/gazebo/trunk/server/physics/HingeJoint.cc 2008-08-22 18:19:44 UTC
(rev 6976)
@@ -40,7 +40,7 @@
this->type = Joint::HINGE;
this->jointId = dJointCreateHinge( worldId, NULL );
- this->axisP = new Param<Vector3>("axis",Vector3(0,0,1), 0);
+ this->axisP = new Param<Vector3>("axis",Vector3(0,1,0), 1);
this->loStopP = new Param<Angle>("lowStop",-M_PI,0);
this->hiStopP = new Param<Angle>("highStop",M_PI,0);
}
@@ -142,8 +142,6 @@
dJointSetHingeAxis( this->jointId, axis.x, axis.y, axis.z );
}
-
-
//////////////////////////////////////////////////////////////////////////////
// Set the _parameter to _value
void HingeJoint::SetParam( int parameter, double value)
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2008-08-21 22:07:55 UTC (rev
6975)
+++ code/gazebo/trunk/server/physics/Joint.cc 2008-08-22 18:19:44 UTC (rev
6976)
@@ -80,7 +80,6 @@
{
// Name the joint
this->nameP->Load(node);
- this->LoadChild(node);
this->body1NameP->Load(node);
this->body2NameP->Load(node);
@@ -138,6 +137,7 @@
this->line2->AddPoint(Vector3(0,0,0));
this->line2->AddPoint(Vector3(0,0,0));
+ this->LoadChild(node);
}
////////////////////////////////////////////////////////////////////////////////
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