Revision: 7378
http://playerstage.svn.sourceforge.net/playerstage/?rev=7378&view=rev
Author: natepak
Date: 2009-03-08 02:34:23 +0000 (Sun, 08 Mar 2009)
Log Message:
-----------
Added enableGravity
Modified Paths:
--------------
code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
code/branches/federation/gazebo/server/Model.cc
code/branches/federation/gazebo/server/Model.hh
code/branches/federation/gazebo/server/physics/Body.cc
code/branches/federation/gazebo/worlds/audio.world
code/branches/federation/gazebo/worlds/bandit.world
code/branches/federation/gazebo/worlds/bumper.world
code/branches/federation/gazebo/worlds/factory.world
code/branches/federation/gazebo/worlds/laser.world
code/branches/federation/gazebo/worlds/lights.world
code/branches/federation/gazebo/worlds/map.world
code/branches/federation/gazebo/worlds/openal.world
code/branches/federation/gazebo/worlds/pioneer2at.world
code/branches/federation/gazebo/worlds/pioneer2dx.world
code/branches/federation/gazebo/worlds/pioneer2dx_camera.world
code/branches/federation/gazebo/worlds/pioneer2dx_gripper.world
code/branches/federation/gazebo/worlds/simplecar.world
code/branches/federation/gazebo/worlds/simpleshapes.world
code/branches/federation/gazebo/worlds/test.world
code/branches/federation/gazebo/worlds/trimesh.world
code/branches/federation/gazebo/worlds/wizbot.world
Modified:
code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
===================================================================
--- code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
2009-03-08 01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
2009-03-08 02:34:23 UTC (rev 7378)
@@ -40,6 +40,7 @@
{
gazebo::Pose pose;
+ pose.pos.z = 1.0;
gazebo::Vec3 linearVel(0.1, 0, 0);
gazebo::Vec3 angularVel(0, 0, 0);
gazebo::Vec3 linearAccel(0, 0, 0);
@@ -53,9 +54,8 @@
// Example of resetting the simulator
// simIface->Reset();
+ //usleep(1000000);
- usleep(1000000);
-
simIface->Close();
delete simIface;
Modified: code/branches/federation/gazebo/server/Model.cc
===================================================================
--- code/branches/federation/gazebo/server/Model.cc 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/server/Model.cc 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -68,6 +68,10 @@
this->rpyP = new ParamT<Quatern>("rpy", Quatern(1,0,0,0), 0);
this->rpyP->Callback( &Model::SetRotation, this);
+
+ this->enableGravityP = new ParamT<bool>("enableGravity", true, 0);
+ this->enableGravityP->Callback( &Model::SetGravityMode, this );
+
Param::End();
this->parentBodyNameP = NULL;
@@ -118,11 +122,12 @@
this->canonicalBodyNameP->Load(node);
this->xyzP->Load(node);
this->rpyP->Load(node);
+ this->enableGravityP->Load(node);
this->xmlNode = node;
this->type=node->GetName();
- this->SetStatic(this->staticP->GetValue());
+ this->SetStatic( **(this->staticP) );
if (this->type == "physical")
this->LoadPhysical(node);
@@ -172,6 +177,11 @@
// Record the model's initial pose (for reseting)
this->SetInitPose(pose);
+ // This must be placed after creation of the bodies
+ // Static variable overrides the gravity
+ if (**this->staticP == false)
+ this->SetGravityMode( **(this->enableGravityP) );
+
return 0;
// Get the name of the python module
@@ -224,6 +234,7 @@
stream << " name=\"" << this->nameP->GetValue() << "\">\n";
stream << prefix << " " << *(this->xyzP) << "\n";
stream << prefix << " " << *(this->rpyP) << "\n";
+ stream << prefix << " " << *(this->enableGravityP) << "\n";
if (this->type == "physical")
{
@@ -772,7 +783,21 @@
return this->bodies[this->canonicalBodyNameP->GetValue()];
}
+////////////////////////////////////////////////////////////////////////////////
+/// Set the gravity mode of the model
+void Model::SetGravityMode( const bool &v )
+{
+ Body *body;
+ std::map<std::string, Body* >::iterator iter;
+ for (iter=this->bodies.begin(); iter!=this->bodies.end(); iter++)
+ {
+ body = iter->second;
+
+ body->SetGravityMode( v );
+ }
+}
+
////////////////////////////////////////////////////////////////////////////////
// Load a renderable model (like a light source).
void Model::LoadRenderable(XMLConfigNode *node)
@@ -785,7 +810,7 @@
char lightNumBuf[8];
sprintf(lightNumBuf, "%d", lightNumber++);
body->SetName(this->GetName() + "_RenderableBody_" + lightNumBuf);
- body->SetGravityMode(false);
+ //body->SetGravityMode(false);
body->SetPose(Pose3d());
this->bodies[body->GetName()] = body;
Modified: code/branches/federation/gazebo/server/Model.hh
===================================================================
--- code/branches/federation/gazebo/server/Model.hh 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/server/Model.hh 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -155,6 +155,9 @@
/// \return Pointer to the body
public: Body *GetCanonicalBody();
+ /// \brief Set the gravity mode of the model
+ public: void SetGravityMode( const bool &v );
+
/// \brief Load a body helper function
/// \param node XML Configuration node
private: void LoadBody(XMLConfigNode *node);
@@ -205,8 +208,8 @@
private: ParamT<Quatern> *rpyP;
private: ParamT<std::string> *parentBodyNameP;
private: ParamT<std::string> *myBodyNameP;
+ private: ParamT<bool> *enableGravityP;
-
// Name of a light (if the model is renderable:light)
private: std::string lightName;
Modified: code/branches/federation/gazebo/server/physics/Body.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/Body.cc 2009-03-08
01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/server/physics/Body.cc 2009-03-08
02:34:23 UTC (rev 7378)
@@ -198,7 +198,7 @@
void Body::SetGravityMode(bool mode)
{
if (this->bodyId)
- dBodySetGravityMode(this->bodyId, mode);
+ dBodySetGravityMode(this->bodyId, mode ? 1: 0);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/worlds/audio.world
===================================================================
--- code/branches/federation/gazebo/worlds/audio.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/audio.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -18,8 +18,8 @@
<physics:ode>
<stepTime>0.03</stepTime>
<gravity>0 0 -9.8</gravity>
- <cfm>0.008</cfm>
- <erp>0.2</erp>
+ <cfm>10e-5</cfm>
+ <erp>0.3</erp>
</physics:ode>
<rendering:gui>
@@ -87,9 +87,10 @@
<rpy>0.0 0.0 0.0</rpy>
<body:cylinder name="cylinder1_body">
- <sensor:microphone>
+ <!--<sensor:microphone name="microphone_sensor">
<gain>1.0</gain>
</sensor:microphone>
+ -->
<geom:cylinder name="cylinder1_geom">
<size>0.5 1</size>
<mass>1.0</mass>
@@ -135,4 +136,18 @@
</body:empty>
</model:physical>
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>0 2 2</xyz>
+ <enableGravity>false</enableGravity>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.8 0.8 0.8</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <attenuation>20 0.5 0.1 0</attenuation>
+ </light>
+ </model:renderable>
+
+
</gazebo:world>
Modified: code/branches/federation/gazebo/worlds/bandit.world
===================================================================
--- code/branches/federation/gazebo/worlds/bandit.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/bandit.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -161,6 +161,7 @@
<!-- White Directional light -->
<model:renderable name="point_white">
<xyz>0 2 2</xyz>
+ <enableGravity>false</enableGravity>
<light>
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
Modified: code/branches/federation/gazebo/worlds/bumper.world
===================================================================
--- code/branches/federation/gazebo/worlds/bumper.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/bumper.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -137,6 +137,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.6 -0.4</direction>
Modified: code/branches/federation/gazebo/worlds/factory.world
===================================================================
--- code/branches/federation/gazebo/worlds/factory.world 2009-03-08
01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/worlds/factory.world 2009-03-08
02:34:23 UTC (rev 7378)
@@ -89,6 +89,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.5 -0.5</direction>
Modified: code/branches/federation/gazebo/worlds/laser.world
===================================================================
--- code/branches/federation/gazebo/worlds/laser.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/laser.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -97,6 +97,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.5 -0.5</direction>
Modified: code/branches/federation/gazebo/worlds/lights.world
===================================================================
--- code/branches/federation/gazebo/worlds/lights.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/lights.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -56,6 +56,7 @@
<model:renderable name="spot_red">
<xyz>0.0 0.0 2.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
+ <enableGravity>false</enableGravity>
<light>
<type>spot</type>
@@ -70,6 +71,7 @@
<model:renderable name="spot_green">
<xyz>0.0 1.0 2.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
+ <enableGravity>false</enableGravity>
<light>
<type>spot</type>
@@ -98,6 +100,7 @@
<model:renderable name="spot_blue">
<xyz>0.0 0 0</xyz>
<rpy>0.0 0.0 0.0</rpy>
+ <enableGravity>false</enableGravity>
<light>
<type>spot</type>
@@ -115,6 +118,8 @@
<!-- Yellow Point light -->
<model:renderable name="point_yellow">
<xyz>5 5 5</xyz>
+ <enableGravity>false</enableGravity>
+
<light>
<type>point</type>
<diffuseColor>0.1 0.1 0.0</diffuseColor>
@@ -125,6 +130,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -1 0</direction>
Modified: code/branches/federation/gazebo/worlds/map.world
===================================================================
--- code/branches/federation/gazebo/worlds/map.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/map.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -77,6 +77,7 @@
</model:physical>
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.6 -0.4</direction>
Modified: code/branches/federation/gazebo/worlds/openal.world
===================================================================
--- code/branches/federation/gazebo/worlds/openal.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/openal.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -130,6 +130,8 @@
<!-- White Directional light -->
<model:renderable name="point_white">
<xyz>0 2 2</xyz>
+ <enableGravity>false</enableGravity>
+
<light>
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
Modified: code/branches/federation/gazebo/worlds/pioneer2at.world
===================================================================
--- code/branches/federation/gazebo/worlds/pioneer2at.world 2009-03-08
01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/worlds/pioneer2at.world 2009-03-08
02:34:23 UTC (rev 7378)
@@ -111,6 +111,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.8 -0.3</direction>
Modified: code/branches/federation/gazebo/worlds/pioneer2dx.world
===================================================================
--- code/branches/federation/gazebo/worlds/pioneer2dx.world 2009-03-08
01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/worlds/pioneer2dx.world 2009-03-08
02:34:23 UTC (rev 7378)
@@ -94,9 +94,9 @@
-->
<model:physical name="pioneer2dx_model1">
- <xyz>0 0 0.145</xyz>
+ <xyz>0 0 1.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <disableGravity/>
+ <enableGravity>false</enableGravity>
<controller:differential_position2d name="controller1">
<leftJoint>left_wheel_hinge</leftJoint>
@@ -109,6 +109,7 @@
<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
+ <enableGravity>false</enableGravity>
<attach>
<parentBody>chassis_body</parentBody>
@@ -128,6 +129,8 @@
<!-- White Point light -->
<model:renderable name="point_white">
<xyz>0 2 2</xyz>
+ <enableGravity>false</enableGravity>
+
<light>
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
Modified: code/branches/federation/gazebo/worlds/pioneer2dx_camera.world
===================================================================
--- code/branches/federation/gazebo/worlds/pioneer2dx_camera.world
2009-03-08 01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/worlds/pioneer2dx_camera.world
2009-03-08 02:34:23 UTC (rev 7378)
@@ -120,6 +120,8 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
<xyz>2.0 0 2.0</xyz>
+ <enableGravity>false</enableGravity>
+
<light>
<type>spot</type>
<range>1000 1000 100</range>
Modified: code/branches/federation/gazebo/worlds/pioneer2dx_gripper.world
===================================================================
--- code/branches/federation/gazebo/worlds/pioneer2dx_gripper.world
2009-03-08 01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/worlds/pioneer2dx_gripper.world
2009-03-08 02:34:23 UTC (rev 7378)
@@ -104,6 +104,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.6 -0.4</direction>
Modified: code/branches/federation/gazebo/worlds/simplecar.world
===================================================================
--- code/branches/federation/gazebo/worlds/simplecar.world 2009-03-08
01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/worlds/simplecar.world 2009-03-08
02:34:23 UTC (rev 7378)
@@ -114,6 +114,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.8 -0.3</direction>
Modified: code/branches/federation/gazebo/worlds/simpleshapes.world
===================================================================
--- code/branches/federation/gazebo/worlds/simpleshapes.world 2009-03-08
01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/worlds/simpleshapes.world 2009-03-08
02:34:23 UTC (rev 7378)
@@ -115,6 +115,8 @@
<!-- White Directional light -->
<model:renderable name="point_white">
<xyz>0 2 2</xyz>
+ <enableGravity>false</enableGravity>
+
<light>
<type>point</type>
<diffuseColor>0.8 0.8 0.8</diffuseColor>
Modified: code/branches/federation/gazebo/worlds/test.world
===================================================================
--- code/branches/federation/gazebo/worlds/test.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/test.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -142,6 +142,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.6 -0.4</direction>
Modified: code/branches/federation/gazebo/worlds/trimesh.world
===================================================================
--- code/branches/federation/gazebo/worlds/trimesh.world 2009-03-08
01:56:07 UTC (rev 7377)
+++ code/branches/federation/gazebo/worlds/trimesh.world 2009-03-08
02:34:23 UTC (rev 7378)
@@ -74,6 +74,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.5 -0.5</direction>
Modified: code/branches/federation/gazebo/worlds/wizbot.world
===================================================================
--- code/branches/federation/gazebo/worlds/wizbot.world 2009-03-08 01:56:07 UTC
(rev 7377)
+++ code/branches/federation/gazebo/worlds/wizbot.world 2009-03-08 02:34:23 UTC
(rev 7378)
@@ -163,6 +163,7 @@
<!-- White Directional light -->
<model:renderable name="directional_white">
+ <enableGravity>false</enableGravity>
<light>
<type>directional</type>
<direction>0 -0.6 -0.4</direction>
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