Revision: 7692
http://playerstage.svn.sourceforge.net/playerstage/?rev=7692&view=rev
Author: hsujohnhsu
Date: 2009-05-19 03:47:34 +0000 (Tue, 19 May 2009)
Log Message:
-----------
anchorVec from Gazebo body reference rather than CoM location (ODE).
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Joint.cc
Modified: code/gazebo/trunk/server/physics/Joint.cc
===================================================================
--- code/gazebo/trunk/server/physics/Joint.cc 2009-05-19 03:46:26 UTC (rev
7691)
+++ code/gazebo/trunk/server/physics/Joint.cc 2009-05-19 03:47:34 UTC (rev
7692)
@@ -115,7 +115,13 @@
if (!body2)
gzthrow("Couldn't Find Body[" + node->GetString("body2","",1));
- Vector3 anchorVec = anchorBody->GetPosition() + **(this->anchorOffsetP);
+ Pose3d tmpPose =
anchorBody->GetCoMPose().CoordPoseSolve(anchorBody->GetPose());
+ // std::cout << "anchor body " << anchorBody->GetName()
+ // << " ab pos " << tmpPose
+ // << " com pos " << anchorBody->GetCoMPose()
+ // << " off " << **(this->anchorOffsetP)
+ // << std::endl;
+ Vector3 anchorVec = tmpPose.pos + **(this->anchorOffsetP);
double h = World::Instance()->GetPhysicsEngine()->GetStepTime();
double stopErp = h * (**this->stopKpP) / (h * (**this->stopKpP) +
(**this->stopKdP));
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