Revision: 7690
http://playerstage.svn.sourceforge.net/playerstage/?rev=7690&view=rev
Author: hsujohnhsu
Date: 2009-05-19 03:42:06 +0000 (Tue, 19 May 2009)
Log Message:
-----------
update geom:plane to read contact parameters from xml.
Modified Paths:
--------------
code/gazebo/trunk/server/physics/PlaneGeom.cc
Modified: code/gazebo/trunk/server/physics/PlaneGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/PlaneGeom.cc 2009-05-18 21:40:54 UTC
(rev 7689)
+++ code/gazebo/trunk/server/physics/PlaneGeom.cc 2009-05-19 03:42:06 UTC
(rev 7690)
@@ -103,6 +103,8 @@
this->materialP->Load(node);
this->castShadowsP->Load(node);
this->CreatePlane();
+
+ this->contact->Load(node);
}
////////////////////////////////////////////////////////////////////////////////
@@ -119,10 +121,10 @@
this->SetGeom(dCreatePlane(this->spaceId, this->normalP->GetValue().x,
this->normalP->GetValue().y, this->normalP->GetValue().z,
altitude),false);
- this->contact->kp = dInfinity;
- this->contact->kd = 0;
- this->contact->mu1 = dInfinity;
- this->contact->mu2 = dInfinity;
+ //this->contact->kp = dInfinity;
+ //this->contact->kd = 0;
+ //this->contact->mu1 = dInfinity;
+ //this->contact->mu2 = dInfinity;
}
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