Revision: 7391
http://playerstage.svn.sourceforge.net/playerstage/?rev=7391&view=rev
Author: natepak
Date: 2009-03-08 08:46:29 +0000 (Sun, 08 Mar 2009)
Log Message:
-----------
Added ghost objects
Modified Paths:
--------------
code/branches/federation/gazebo/server/Global.hh
code/branches/federation/gazebo/server/Model.cc
code/branches/federation/gazebo/server/Simulator.cc
code/branches/federation/gazebo/server/physics/Body.cc
code/branches/federation/gazebo/server/physics/Body.hh
code/branches/federation/gazebo/server/physics/Geom.cc
code/branches/federation/gazebo/worlds/pioneer2dx.world
Modified: code/branches/federation/gazebo/server/Global.hh
===================================================================
--- code/branches/federation/gazebo/server/Global.hh 2009-03-08 05:31:58 UTC
(rev 7390)
+++ code/branches/federation/gazebo/server/Global.hh 2009-03-08 08:46:29 UTC
(rev 7391)
@@ -49,10 +49,11 @@
#ifndef GZ_COLLIDE_BITS
-#define GZ_ALL_COLLIDE 0xFFFFFFFF
+#define GZ_ALL_COLLIDE 0x0FFFFFFF
#define GZ_NONE_COLLIDE 0x00000000
#define GZ_FIXED_COLLIDE 0x00000001
#define GZ_SENSOR_COLLIDE 0x00000002
+#define GZ_GHOST_COLLIDE 0x10000000
#endif
Modified: code/branches/federation/gazebo/server/Model.cc
===================================================================
--- code/branches/federation/gazebo/server/Model.cc 2009-03-08 05:31:58 UTC
(rev 7390)
+++ code/branches/federation/gazebo/server/Model.cc 2009-03-08 08:46:29 UTC
(rev 7391)
@@ -832,7 +832,7 @@
/// Set the collide mode of the model
void Model::SetCollideMode( const std::string &m )
{
- /*Body *body;
+ Body *body;
std::map<std::string, Body* >::iterator iter;
@@ -840,10 +840,10 @@
{
body = iter->second;
- body->SetFrictionMode( v );
+ body->SetCollideMode( m );
}
- */
}
+
////////////////////////////////////////////////////////////////////////////////
// Load a renderable model (like a light source).
void Model::LoadRenderable(XMLConfigNode *node)
Modified: code/branches/federation/gazebo/server/Simulator.cc
===================================================================
--- code/branches/federation/gazebo/server/Simulator.cc 2009-03-08 05:31:58 UTC
(rev 7390)
+++ code/branches/federation/gazebo/server/Simulator.cc 2009-03-08 08:46:29 UTC
(rev 7391)
@@ -303,6 +303,13 @@
if (currTime - this->lastUpdateTime > this->runLength)
{
World::Instance()->ProcessMessages();
+
+ // Update the gui
+ if (this->gui)
+ {
+ this->gui->Update();
+ }
+
continue;
}
@@ -327,7 +334,6 @@
this->prevPhysicsTime = this->GetRealTime();
- std::cout << "Updating at[" << this->GetRealTime() << "]\n";
World::Instance()->Update();
}
Modified: code/branches/federation/gazebo/server/physics/Body.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/Body.cc 2009-03-08
05:31:58 UTC (rev 7390)
+++ code/branches/federation/gazebo/server/physics/Body.cc 2009-03-08
08:46:29 UTC (rev 7391)
@@ -74,6 +74,7 @@
this->dampingFactorP = new ParamT<double>("dampingFactor", 0.03, 0);
Param::End();
+
}
@@ -214,6 +215,35 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the collide mode of the body
+void Body::SetCollideMode( const std::string &m )
+{
+ std::map< std::string, Geom* >::iterator giter;
+
+ unsigned int collideBits;
+
+ if (m == "all")
+ collideBits = GZ_ALL_COLLIDE;
+ else if (m == "none")
+ collideBits = GZ_NONE_COLLIDE;
+ else if (m == "sensors")
+ collideBits = GZ_SENSOR_COLLIDE;
+ else if (m == "ghost")
+ collideBits = GZ_GHOST_COLLIDE;
+ else
+ {
+ gzerr(0) << "Unknown collide mode[" << m << "]\n";
+ return;
+ }
+
+ for (giter = this->geoms.begin(); giter != this->geoms.end(); giter++)
+ {
+ giter->second->SetCategoryBits(collideBits);
+ giter->second->SetCollideBits(collideBits);
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Initialize the body
void Body::Init()
{
Modified: code/branches/federation/gazebo/server/physics/Body.hh
===================================================================
--- code/branches/federation/gazebo/server/physics/Body.hh 2009-03-08
05:31:58 UTC (rev 7390)
+++ code/branches/federation/gazebo/server/physics/Body.hh 2009-03-08
08:46:29 UTC (rev 7391)
@@ -120,6 +120,9 @@
/// \brief Set the friction mode of the body
public: void SetFrictionMode( const bool &v );
+ /// \brief Set the collide mode of the body
+ public: void SetCollideMode( const std::string &m );
+
/// \brief Set the linear velocity of the body
public: void SetLinearVel(const Vector3 &vel);
Modified: code/branches/federation/gazebo/server/physics/Geom.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/Geom.cc 2009-03-08
05:31:58 UTC (rev 7390)
+++ code/branches/federation/gazebo/server/physics/Geom.cc 2009-03-08
08:46:29 UTC (rev 7391)
@@ -108,6 +108,7 @@
{
XMLConfigNode *childNode = NULL;
+
this->xmlNode=node;
this->typeName = node->GetName();
@@ -170,6 +171,7 @@
World::Instance()->RegisterGeom(this);
this->ShowPhysics(false);
}
+
}
@@ -239,7 +241,13 @@
this->SetCategoryBits(GZ_FIXED_COLLIDE);
this->SetCollideBits(~GZ_FIXED_COLLIDE);
}
+ else
+ {
+ this->SetCategoryBits(GZ_ALL_COLLIDE);
+ //this->SetCollideBits(~GZ_FIXED_COLLIDE);
+ }
+
// Create a new name of the geom's mesh entity
//std::ostringstream stream;
//stream << "Entity[" << (int)this->geomId << "]";
Modified: code/branches/federation/gazebo/worlds/pioneer2dx.world
===================================================================
--- code/branches/federation/gazebo/worlds/pioneer2dx.world 2009-03-08
05:31:58 UTC (rev 7390)
+++ code/branches/federation/gazebo/worlds/pioneer2dx.world 2009-03-08
08:46:29 UTC (rev 7391)
@@ -98,7 +98,7 @@
<rpy>0.0 0.0 90.0</rpy>
<enableGravity>false</enableGravity>
<enableFriction>false</enableFriction>
- <collide>sensors</collide>
+ <collide>ghost</collide>
<controller:differential_position2d name="controller1">
<leftJoint>left_wheel_hinge</leftJoint>
@@ -112,6 +112,7 @@
<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
<enableGravity>false</enableGravity>
+ <collide>ghost</collide>
<attach>
<parentBody>chassis_body</parentBody>
@@ -128,6 +129,26 @@
</include>
</model:physical>
+ <model:physical name="box1_model">
+ <xyz>0 0.5 0.5</xyz>
+ <canonicalBody>box1_body</canonicalBody>
+ <static>false</static>
+
+ <body:box name="box1_body">
+
+ <geom:box name="box1_geom">
+ <size>1 .1 1</size>
+ <mass>0.1</mass>
+ <visual>
+ <size>1 .1 1</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
<!-- White Point light -->
<model:renderable name="point_white">
<xyz>0 2 2</xyz>
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