Revision: 7774
http://playerstage.svn.sourceforge.net/playerstage/?rev=7774&view=rev
Author: natepak
Date: 2009-06-03 14:11:22 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
Added friction enable flag to ContactParams
Modified Paths:
--------------
code/gazebo/trunk/server/physics/ContactParams.cc
code/gazebo/trunk/server/physics/ContactParams.hh
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/trunk/server/physics/ContactParams.cc
===================================================================
--- code/gazebo/trunk/server/physics/ContactParams.cc 2009-06-03 13:51:30 UTC
(rev 7773)
+++ code/gazebo/trunk/server/physics/ContactParams.cc 2009-06-03 14:11:22 UTC
(rev 7774)
@@ -52,6 +52,8 @@
this->mu2 = dInfinity;
this->slip1 = 0.01;
this->slip2 = 0.01;
+
+ this->enableFriction = true;
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/ContactParams.hh
===================================================================
--- code/gazebo/trunk/server/physics/ContactParams.hh 2009-06-03 13:51:30 UTC
(rev 7773)
+++ code/gazebo/trunk/server/physics/ContactParams.hh 2009-06-03 14:11:22 UTC
(rev 7774)
@@ -78,6 +78,8 @@
/// \brief soft constraint force mixing
public: double softCfm;
+
+ public: bool enableFriction;
public: boost::signal< void (Geom*, Geom*)> contactSignal;
};
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-06-03 13:51:30 UTC (rev
7773)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-06-03 14:11:22 UTC (rev
7774)
@@ -636,20 +636,5 @@
/// Set the friction mode of the geom
void Geom::SetFrictionMode( const bool &v )
{
- if (v == false)
- {
- this->contact->mu1 = 0;
- this->contact->mu2 = 0;
- this->contact->slip1 = 0;
- this->contact->slip2 = 0;
- }
- else
- {
- this->contact->mu1 = dInfinity;
- this->contact->mu2 = dInfinity;
- this->contact->slip1 = 0.1;
- this->contact->slip2 = 0.1;
-
- }
+ this->contact->enableFriction = v;
}
-
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-06-03 13:51:30 UTC
(rev 7773)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-06-03 14:11:22 UTC
(rev 7774)
@@ -372,17 +372,29 @@
contact.surface.soft_erp = h * kp / (h * kp + kd);
contact.surface.soft_cfm = 1.0 / (h * kp + kd);
- contact.surface.mu = std::min(geom1->contact->mu1,
geom2->contact->mu1);
- contact.surface.mu2 = std::min(geom1->contact->mu2,
geom2->contact->mu2);
+ if (geom1->contact->enableFriction && geom2->contact->enableFriction)
+ {
+ contact.surface.mu = std::min(geom1->contact->mu1,
+ geom2->contact->mu1);
+ contact.surface.mu2 = std::min(geom1->contact->mu2,
+ geom2->contact->mu2);
+ contact.surface.slip1 = std::min(geom1->contact->slip1,
+ geom2->contact->slip1);
+ contact.surface.slip2 = std::min(geom1->contact->slip2,
+ geom2->contact->slip2);
+ }
+ else
+ {
+ contact.surface.mu = 0;
+ contact.surface.mu2 = 0;
+ contact.surface.slip1 = 0.1;
+ contact.surface.slip2 = 0.1;
+ }
+
contact.surface.bounce = std::min(geom1->contact->bounce,
geom2->contact->bounce);
contact.surface.bounce_vel = std::min(geom1->contact->bounceVel,
geom2->contact->bounceVel);
- contact.surface.slip1 = std::min(geom1->contact->slip1,
- geom2->contact->slip1);
- contact.surface.slip2 = std::min(geom1->contact->slip2,
- geom2->contact->slip2);
-
dJointID c = dJointCreateContact (self->worldId,
self->contactGroup, &contact);
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
OpenSolaris 2009.06 is a cutting edge operating system for enterprises
looking to deploy the next generation of Solaris that includes the latest
innovations from Sun and the OpenSource community. Download a copy and
enjoy capabilities such as Networking, Storage and Virtualization.
Go to: http://p.sf.net/sfu/opensolaris-get
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
