Revision: 7679
http://playerstage.svn.sourceforge.net/playerstage/?rev=7679&view=rev
Author: hsujohnhsu
Date: 2009-05-16 00:53:46 +0000 (Sat, 16 May 2009)
Log Message:
-----------
fix initial Body Geom pose.
fix custom mass initialization.
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Geom.cc
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-05-15 20:25:07 UTC (rev
7678)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-05-16 00:53:46 UTC (rev
7679)
@@ -932,7 +932,7 @@
this->ixx,this->iyy,this->izz,
this->ixy,this->ixz,this->iyz);
- dMassTranslate( &this->mass, -this->cx, -this->cy, -this->cz);
+ //dMassTranslate( &this->mass, -this->cx, -this->cy, -this->cz);
// dMatrix3 rot;
// dMassRotate(&this->mass, rot);
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-05-15 20:25:07 UTC (rev
7678)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-05-16 00:53:46 UTC (rev
7679)
@@ -147,7 +147,7 @@
pose.rot = this->rpyP->GetValue();
// TODO: This should probably be true....but "true" breaks trimesh postions.
- this->SetPose(pose, true);
+ this->SetPose(pose, false);
childNode = node->GetChild("visual");
while (childNode)
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